Documentation
FC3101 and FC3102
PCI Cards for PROFIBUS
Version:
Date:
3.0
2017-11-17
Table of Contents
Table of Contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation........................................................................................................... 5
1.2 Safety instructions .......................................................................................................................... 6
1.3 Documentation Issue Status........................................................................................................... 7
2 Product Overview ......................................................................................................................................8
2.1 Introduction ..................................................................................................................................... 8
2.2 FC310x - Technical Data ................................................................................................................ 8
2.3 Hardware Description ..................................................................................................................... 9
3 FC310x as master ....................................................................................................................................10
3.1 Master........................................................................................................................................... 10
3.2 PROFIBUS DP ............................................................................................................................. 11
3.3 Synchronization ............................................................................................................................ 12
3.3.1 Overview ..........................................................................................................................12
3.3.2 Slave Prioritization/Multiple DP Cycles ............................................................................14
3.3.3 Sync/Freeze functionality.................................................................................................15
3.4 Diagnostics ................................................................................................................................... 16
3.4.1 Overview ..........................................................................................................................16
3.4.2 Error Reactions ................................................................................................................16
3.4.3 FC310x - Master Diagnostics...........................................................................................20
3.4.4 Slave diagnostics .............................................................................................................23
3.4.5 DP State of the Slaves.....................................................................................................25
3.5 PROFIBUS MC............................................................................................................................. 25
3.6 ADS (acyclic communication) ....................................................................................................... 28
3.6.1 ADS Interface...................................................................................................................28
3.6.2 PROFIBUS DPV1 ............................................................................................................31
3.6.3 Uploading the Configuration ............................................................................................34
3.6.4 PKW Interface of PROFIDRIVE Slaves ...........................................................................35
3.6.5 S5-FDL Communication...................................................................................................36
3.6.6 ADS Error Codes of the FC310x......................................................................................37
3.7 Master redundancy ....................................................................................................................... 38
3.8 Device tab..................................................................................................................................... 40
3.8.1 TwinCAT 2.8 ....................................................................................................................40
3.8.2 TwinCAT 2.9 ....................................................................................................................48
3.9 Box tab.......................................................................................................................................... 58
3.9.1 Profibus tab......................................................................................................................58
3.9.2 Features tab.....................................................................................................................59
3.9.3 Beckhoff tab .....................................................................................................................60
3.9.4 ProcessData tab...............................................................................................................61
3.9.5 PrmData (text) tab............................................................................................................62
3.9.6 Diag tab............................................................................................................................62
4 FC310x as slave.......................................................................................................................................64
4.1 Slave............................................................................................................................................. 64
5 Appendix ..................................................................................................................................................69
5.1 Diagnostic Data - DiagData .......................................................................................................... 69
5.1.1 DPV1 Error Codes ...........................................................................................................71
5.2 Configuration Data - CfgData ....................................................................................................... 73
5.3 Support and Service ..................................................................................................................... 75
FC3101 and FC3102 3Version: 3.0
Table of Contents
FC3101 and FC31024 Version: 3.0
Foreword
1 Foreword
1.1 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered
trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or
registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
FC3101 and FC3102 5Version: 3.0
Foreword
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!
DANGER
WARNING
CAUTION
Attention
Note
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the
life and health of persons.
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment.
Tip or pointer
This symbol indicates information that contributes to better understanding.
FC3101 and FC31026 Version: 3.0
1.3 Documentation Issue Status
Version Comment
3.0 • Migration
2.2 • Layout and foreword updated
2.1 • Technical data and safety instructions amended
2.0 • Technical description amended
1.0 • First release
Foreword
FC3101 and FC3102 7Version: 3.0
Product Overview
2 Product Overview
2.1 Introduction
The functionalities of the Beckhoff PCI card FC310x (as Master [}10] and Slave [}11]) for use under
TwinCAT (NCI, PTP, PLC and IO) is described below.
TwinCAT 2.7 does not support all the functions described below. TwinCAT 2.8 on the other hand supports all
functions described below, with the exception of redundancy and of the ADS server interface of the FC310x
as a slave (these will both be supported as from TwinCAT 2.9).
The following chapters also apply to the PROFIBUS connection for the CX1000 (CX1500-M310 (master) or
CX1500-B310 (slave)); the name FC310x then also refers to the CX1500-M310 master or CX1500-B310
slave connection.
2.2 FC310x - Technical Data
Technical Data FC3101 FC3102
Bus system PROFIBUS DP (standard), PROFIBUS DP-V1 (Cl. 1+2:
acyclic services, alarms), DP-V2, PROFIBUS MC (equidistant)
Number of fieldbus channels 1 2
Data transfer rate 9.6kbit/s – 12Mbit/s
Diagnostics 2 LEDs per channel
Interface to the PC Plug-and-play PCI interface, 32bit with 4kbytes DPRAM per
channel
Bus interface 1 x D-Sub socket, 9-pin,
galvanically isolated
Communication Master and slave functionality (also mixed)
Bus devices per channel: max. 125slaves with up to 244bytes input,
output, parameter, configuration or diagnostic data per slave
Process image Sum max.: 3kbytes input and output data
Cycle time differing DP cycle times per slave are possible using the CDL
concept
Standard driver standard operating system driver for Intel-compatible NIC
Real-time driver TwinCAT driver for real-time Ethernet
Supply voltage (PCI bus) 5V
Current consumption(PCI bus, 5V) typ. 600mA typ. 1000mA
Power consumption from PCI bus < 5W
Weight approx. 45g approx. 75g
Dimensions (Wx Hx D, without slot panel) approx. 14mmx106mmx175mm
Permissible ambient temperature range
during operation
Permissible ambient temperature range
during storage
Permissible relative air humidity 95%, no condensation
Vibration/shock resistance conforms to EN60068-2-6/ EN60068-2-27
EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4
Installation position variable
Approval CE
0°C ... + 55°C
-25°C ... + 85°C
2 x D-Sub socket, 9-pin,
galvanically isolated
FC3101 and FC31028 Version: 3.0
Product Overview
2.3 Hardware Description
One FC3102 PROFIBUS fieldbus card behaves in logical terms in the same way as two FC3101 cards, i.e.
all components (with the exception of the PCI interface and the optional NOV RAM) are present in duplicate
on the FC3102 card. Each channel of the FC310x card consists of the following components:
• 80165 25MHz micro-controller
• 512k RAM
• 256k Flash
• 4k DP-RAM
• Fieldbus interface (Altera 6016 with 48MHz, RS485 bus interfacing, 9 pole SUB D plug)
• 2 LEDs (1 x green, 1 x red)
• 1 four pin and 1 two pin plug for the bootstrap loading mode
The following components are present in single form only:
• PCI interface (PLX9050: 1 interrupt input per channel, 1 interrupt output and 1 chip select signal for
DP-RAM and 1 reset line for both channels)
• optional 32k plug-in NOV RAM, addressed via an additional chip-select line
LED indicators - meanings
State of the FC310x LED display
RESET, OFFLINE Red LED on, green LEDs off
STOP Green LED off, red LED flashing (at 10Hz)
While uploading the bus configuration: red and green LEDs flash (at 10Hz)
RUN If the associated TwinCAT task was started, the green LED is on, otherwise the
green LED will flash (with 1Hz)
When all boxes are error-free, the red LED will be off, otherwise it will flash (with
1Hz)
States of the FC310x
RESET, OFFLINE
After power-on, the FC310x is in the RESET state. It exits the RESET state when TwinCAT is started and
will enter the OFFLINE state after TwinCAT is stopped (or after a severe bus error). In the OFFLINE state,
the FC310x is not active on the bus.
STOP
After TwinCAT has started, or during reading of the bus configuration from the System Manager, the FC310x
will enter the STOP state, in which it is active on the bus, but does not yet carry out data exchange
(Data_Exchange) with the DP slaves. During the TwinCAT start, and also during an IO reset, the FC310x will
be in the STOP state. It will exit the STOP state automatically both during TwinCAT start and during IO reset
and will enter the RUN state.
RUN
In the RUN state, the FC310x will automatically establish the DP connections with all configured DP slaves.
As soon as the associated TwinCAT task was started, it will communicate with the DP slaves via
Data_Exchange. As long as the associated TwinCAT task was not yet started, it will only query the
diagnostics. If the associated task is stopped (e.g. PLC STOP, breakpoint in the PLC), the FC310x will
automatically enter CLEAR mode (outputs to 0 or slave-specific response, if FailSafe mode is supported).
Once the associated task is running again, the FC310x will automatically re-enter the OPERATE mode (all
outputs at the values set by TwinCAT).
FC3101 and FC3102 9Version: 3.0
FC310x as master
3 FC310x as master
3.1 Master
As master, the PROFIBUS DP, PROFIBUS DPV1, PROFIBUS DPV2, S5-FDL-AGAG communication and
the PROFIDRIVE-PKW Interface protocols are supported.
PROFIBUS DP
A summary of the PROFIBUS-DP master functions follows:
Function Description
Standard DP
Task synchronization
Slave priorities The slaves can receive telegrams with differing cycle times. The necessary
Multiple DP cycles In order to receive the most recent possible inputs when the task cycles are long,
Diagnostics
Error Reactions
Sync/Freeze
Upload Configuration
Master redundancy
The PROFIBUS DP [}11] chapter describes the necessary steps for establishing
a DP connection (Set_Prm - parameter, Chk_Cfg - configuration) and for the
exchange of user data (Data_Exchange).
The Synchronization [}12] chapter describes how the TwinCAT task is
synchronized with the PROFIBUS cycle.
settings are described in the Slave Prioritization/Multiple DP Cycles [}14]
chapter.
a number of DP cycles can be carried out for each task cycle, as described in the
chapter on Slave Prioritization/Multiple DP Cycles [}14].
The diagnostic [}16] facilities are described in this chapter.
It is possible for different error reactions [}16] to be set in the event of a fault (a
slave fails or the task is stopped).
Activation of the sync and freeze commands is described in the Sync/Freeze
[}15] chapter.
The slaves connected to the PROFIBUS can be read via Upload Configuration
[}34].
The Master redundancy [}38] chapter describes the settings required to have a
second master with the same configuration configured as a standby master (as
from TwinCAT 2.9).
PROFIBUS DPV1
A summary of the PROFIBUS-DPV1 master functions follows:
Function Description
MSAC_C1
MSAC_C2
PROFIBUS DPV2
A summary of the PROFIBUS-DPV2 master functions follows:
Function Description
Equidistance
The MSAC_C1 [}31] connection is established along with the cyclic connection.
The Read, Write and Data_Transport services are supported.
The MSAC_C2 [}31] connection is established independently of the cyclic
connection, and can also be used by a second master (while the first one is
communicating with the slave over the cyclic MSAC_C1 connection). The Initiate,
Abort, Read, Write and Data_Transport services are supported.
The DPV2 equidistance functionality is described in the PROFIBUS MC [}25]
chapter.
FC3101 and FC310210 Version: 3.0
FC310x as master
S5-FDL-AGAG Communication
S5-FDL-AGAG communication is described in the S5-FDL [}36] chapter.
PROFIDRIVE-PKW Interface
The PROFIDRIVE PKW protocol [}35] is implemented in the PROFIBUS master, and can be used by
means of acyclic ADS calls.
3.2 PROFIBUS DP
Standard DP Operation
In order to configure standard DP operation, proceed as follows in the TwinCAT System Manager:
Configure the DP Master
It is first necessary to configure a "PROFIBUS Master FC310x, PCI" I/O device (selecting "I/O devices" with
right click, and then selecting "Append Device"). Find the corresponding channel on the "FC310x" tab (see
FC310x tab under TwinCAT 2.8 [}40] or TwinCAT 2.9 [}48]) ("Search" button) and adjust the baud rate, if
necessary (the default value is 12Mbit/s).
Add DP slaves
The Beckhoff slaves or third-party devices are to be configured. (All slaves whose GSD file is stored in
subdirectory PROFIBUS of the SystemManager are displayed automatically (sorted by manufacturer).
Select the "General PROFIBUS Box (GSD)" under Miscellaneous to integrate other GSD files.
Fig.1: Adding a DP slave
In the case of modular slaves, it is then still necessary to add the terminal/IL modules (for Beckhoff slaves) or
the DP module (for third-party devices).
FC3101 and FC3102 11Version: 3.0
FC310x as master
System Start
TwinCAT Configuration Mode (from TwinCAT 2.9)
For the TwinCAT Configuration Mode, it is only necessary to exchange data with the configured slaves. To
do this, TwinCAT Configuration Mode is started, and configuration of the DP master is activated using the
"Reload Devices" button on the toolbar. After this, the data relating to the configured slaves can be read and
written on the associated Variables tab from the System Manager.
TwinCAT Run-Mode
For the TwinCAT Run-Mode, it is now necessary for at least one variable of the PROFIBUS master or of the
configured slave to be linked to a task. The project is then to be stored in the registry, and the TwinCAT
system then started in Run-Mode. Data exchange with the slaves is not carried out until the associated task
is started. If a number of tasks are linked with the PROFIBUS master or with the configured slave, then
whichever task has the highest priority must be started in order for data to be exchanged with the slave.
Bus parameters
TwinCAT 2.8: The PROFIBUS DP Bus parameters are to be found on the device's PROFIBUS [}42] tab,
and should only be modified by experienced users.
TwinCAT 2.9: The PROFIBUS DP bus parameters can be found in the Bus Parameters [}49] dialog, which
can be selected via the FC310x [}48] tab (Bus Parameter (DP) button). They should only be modified by
experienced users.
3.3 Synchronization
3.3.1 Overview
In TwinCAT RunMode, the DP master is always synchronized with the highest priority task with which the
variables are linked. Once the mapping was created, the cycle time of the corresponding task is displayed
under Cycle Time on the "FC310x" tab (for TwinCAT 2.8 [}40] or TwinCAT 2.9 [}48]) of the master. The
task has a setting to indicate whether the "I/O at the task start" should be updated or not.
I/O at task start
If the setting "I/O at task start" has been selected using the checkbox, which is the default setting for the NC
task, then a check is made before the task is started as to whether the previous DP cycle has been
completed. The inputs and outputs (the outputs being those from the previous task cycle) are copied, and
the DP cycle is started. In the example, the task cycle time is 2ms, and real-time resources are 80%:
Fig.2: I/O at task start and real-time resources not exceeded
If, in the previous example, the copying of the inputs and outputs and the task computing time exceeds
0.8ms, then NT will interrupt execution of the task, because 80% of real-time resources has been reached:
FC3101 and FC310212 Version: 3.0
FC310x as master
Fig.3: I/O at task start and real-time resources exceeded
This case would still not be a problem, because the DP cycle was completed within the available time. If "I/O
at task start" is not selected, then the process is somewhat more critical, as is described below.
I/O not at task start
If the setting "I/O at task start" is not selected (checkbox) for the task (default for PLC task), the system
checks before the task starts whether the previous DP cycle was completed, and the inputs are copied. After
this the task is processed, and at the end of the task the outputs are copied and the DP cycle is started. In
the example, the task cycle time is 2ms, and real-time resources are 80%:
Fig.4: I/O not at task start and real-time resources not exceeded
In the event of "I/O not at task start" the task and the PROFIBUS have to share the bandwidth. Exceeding of
the real-time resources therefore has a much stronger effect than for "I/O at task start":
Fig.5: I/O not at task start and real-time resources exceeded
In the case described, the DP cycle starts later, and is no longer finished within the time available before the
following task cycle begins. The effect of this is that it is seen before the task is executed that the previous
DP cycle has still not been completed. It follows that inputs are not copied before starting the task, so that
the task computes with the old inputs; after the task has been processed no outputs are copied, nor is the
DP cycle restarted, so that a DP cycle is omitted. The omission of a DP cycle can be detected with the
CycleCounter, as described in the Master Diagnostics [}20] chapter.
FC3101 and FC3102 13Version: 3.0
FC310x as master
Comparison of I/O at task start and I/O not at task start
An advantage when "I/O at task start" is selected is that the task and the DP cycle do not have to share the
available bandwidth, and that the DP cycle starts very regularly, any jitter being the TwinCAT jitter. If "I/O not
at task start" is selected, then it is more likely that a DP cycle will be omitted; the regularity of the start times
of the DP cycles depends additionally on the jitter in the task processing. The disadvantage of the setting "I/
O at task start" is that the dead time (system response time) increases.
3.3.2 Slave Prioritization/Multiple DP Cycles
Distribution of the DP slaves over a number of DP cycles (prioritization of the slaves)
Slaves can be prioritized so that the DP cycle time can be kept as short as possible in systems in which a
few slaves must be polled very rapidly, whereas a larger cycle time would be adequate for other slaves. It is
possible to specify for each slave in what multiple of cycles (Divider under Data-Exch Poll-Rate on the
slave's Features [}59] tab) it will be polled. Distributing the polling is then helpful, as, for instance, in the
case illustrated below where there are four slaves, each of which is only to be addressed in every second
cycle. It is possible to make settings so that two slaves will be polled in one cycle and the other two slaves in
the other cycle, so that the overall DP cycle time is kept as constant as possible. For this purpose, the
Features [}59] tab for the slave offers the Modulo setting under Data-Exch Poll-Rate. In the illustrated
case, slaves 3 and 5 have Modulo 0 while slaves 4 and 6 are given Modulo 1. The current modulo can be
read in the ActualModulo variable which is described in the Master Diagnostics [}20] chapter.
Fig.6: Allocation of DP slaves to several DP cycles
Multiple DP Cycles in one Task Cycle
If the task cycle time is more than twice as long as the DP cycle time, it is possible for a number of DP cycles
to be carried out within a single task cycle, in order to acquire the most up-to-date input data possible. Based
on the Number of DP cycles per task cycle factor, which can be set on the "FC310x" tab of the master (for
TwinCAT 2.8 [}40] or TwinCAT 2.9 [}48]), a timer with the cycle time (task cycle time/number DP cycles
per task cycle) is started when the first DP cycle starts, through which further DP cycles can then be started.
It is, however, necessary to check that the last DP cycle is completed in good time (before the next task
start), since otherwise one DP cycle will fail (or possibly more than one, depending on the ratio expressed in
the number of DP cycles per task cycle), as described in the Synchronization [}12] chapter.
Fig.7: Multiple DP Cycles in one Task Cycle
FC3101 and FC310214 Version: 3.0
FC310x as master
Multiple data samples within one task cycle
The two functionalities just described can now be combined in order, for instance, to give one or more slaves
in a 2ms cycle new data every 1ms, or to obtain new data from the slave in order to achieve better
regulation quality. In this case, settings are made under Additional Data_Exchange Samples on the slave's
Features [}59] tab instead of under Data-Exch Poll-Rate (as described above).
In the sample shown below, first set the factor Number of DP cycles per task cycle in the "FC310x" tab
(for TwinCAT 2.8 [}40] or TwinCAT 2.9 [}48]) of the master to 2. So that the task can send 2 different
values to the slave, or is able to receive 2 different values from the slave, the appropriate slave is to be
entered into the System Manager twice. All settings, with the exception of Modulo under Additional
Data_Exchange Samples on the slave’s Features [}59] tab, must be the same. A 0 is entered here for the
corresponding slave in one of the boxes and a 1 in the other box in the System Manager. The Multiplier
under Additional Data_Exchange Samples is to be set for this slave in both boxes to 2, so that each of the
two boxes that have been entered is only polled in every second DP cycle (the slave is in fact polled in each
DP cycle, as it is entered twice). For all other slaves that are only to be polled once within the task cycle (and
which of course are only therefore entered once in the System Manager), the Multiplier under Additional
Data_Exchange Samples is also set to 2. Modulo under Additional Data_Exchange Samples can now be
used to distribute these slaves over the two cycles. A slave that is polled twice but which is only to have one
variable image in the task is only to be inserted once; the Multiplier would be set to 1, and Modulo to 0.
In the present example, slaves 1 and 2 would each be entered into the System Manager twice, with these
settings:
• Additional Data_Exchange Samples/Multiplier = 2
• Additional Data_Exchange Samples/Modulo = 0 or 1
Slaves 3 and 5 would only be entered into the System Manager once, and would have these settings:
• Additional Data_Exchange Samples/Multiplier = 2
• Additional Data_Exchange Samples/Modulo = 0
Slaves 4 and 6 would also only be entered into the System Manager once, with these settings:
• Additional Data_Exchange Samples/Multiplier = 2
• Additional Data_Exchange Samples/Modulo = 1
Fig.8: Multiple data samples within one task cycle
For slaves 1 and 2, the variables are present twice (in each case 2 boxes in the System Manager). The
variables associated with the box where Additional Data_Exchange Samples/Modulo is set to 0 are sent or
received first.
3.3.3 Sync/Freeze functionality
Sync is used for the simultaneous outputting of outputs for several slaves. Freeze is used for reading in
inputs from several slaves simultaneously.
The process in TwinCAT with FC310x and Bus Couplers (in K-bus synchronous mode) would therefore be
as follows (see the Synchronization [}12] chapter):
• The outputs are written at the beginning (I/O at the start of the task) or the end (I/O not at the start of
the task) of the task cycle
FC3101 and FC3102 15Version: 3.0
FC310x as master
• This will start the PROFIBUS cycle
• A Sync/Freeze telegram is sent at the start of the PROFIBUS cycle
• This will cause the Bus Couplers to start a K-bus cycle with the outputs from the last task cycle and
transfer the inputs from the last K-bus cycle
• The master will then send the current outputs to each slave and pick up the transferred inputs
• The inputs are read at the start of the next task cycle
• etc.
Outputs and inputs are therefore always one cycle old.
Fig.9: Sync/Freeze functionality
On the FC310x, set the Operation Mode on the "FC310x" tab (for TwinCAT 2.8 [}40] or TwinCAT 2.9
[}48]) of the master to "DP/MC (equidistant)". At the boxes to be operated via Sync/Freeze, click the flag
Sync/Freeze enable on the Profibus [}58] tab. The master always uses group 1 for the Sync/Freeze
synchronization.
3.4 Diagnostics
3.4.1 Overview
The Error reactions [}16] section describes the reactions that will be given to slaves that do not answer or
that answer incorrectly, to a PLC stop or at start-up. The Slave Diagnostics [}23] chapter explains how
diagnostic data provided by the slave and slave statistics can be read, while the Master Diagnostics [}20]
chapter describes general diagnostic information and statistics.
3.4.2 Error Reactions
Failure of a slave
If a slave does not respond or the response is faulty, the master repeats the telegram several times until the
Max Retry limit is reached (TwinCAT 2.8: see PROFIBUS [}42] tab of the master, TwinCAT 2.9: see Bus
Parameter [}49] dialog). If a faulty telegram is received, the master repeats immediately, in the event of a
timeout the master waits for a response from the slave until the Slot time has elapsed (TwinCAT 2.8: see
PROFIBUS [}42] tab of the master, TwinCAT 2.9: see Bus Parameters [}49] dialog). At 12Mbit/s, a slot
time of 1000bit-periods and a max retry limit of 4 (default values) then a Data_Exchange telegram will delay
sending the following telegram by
TDelay = (4 x ((15 + number of outputs) x 11 + 1000) - (15 + number of inputs) x 11)/12µs
The DpState [}25] of the slave is set to 0x02 (timeout) or 0x0B (faulty telegram). The effect on the DP
connection can be set (see below).
Normal DP cycle (12Mbit/s, 5 slaves, 20 bytes I, 20bytes O per slave on average)
FC3101 and FC310216 Version: 3.0
Fig.10: Normal DP cycle
first occurrence of a faulty DP cycle (slave 3 does not answer)
Fig.11: First occurrence of a faulty DP cycle
subsequent DP cycles (slave 3 no longer in the polling list)
FC310x as master
Fig.12: Following DP cycles
It can still happen that the slave answers incorrectly (e.g. because, as a result of a local event on the slave,
the DP connection has been removed). In this case, the telegram is not repeated, but the system continues
by sending the next telegram. The DpState [}25] is set to a value other than 0, the slave is removed from
the polling list and is no longer addressed in the following DP cycle (which means that the time at which the
following telegram is sent changes), until the DP connection can be established again.
Reactions in the master
The master's reactions can be set differently for each slave (see the tab for the slave's Features [}59]).
Effect on the DP connection (NoAnswer reaction) if the slave either does not answer or does not
answer correctly
This specifies whether the DP connection to the slave should be removed immediately in the absence of a
correct reception telegram, or only after the DP watchdog time has elapsed (see the slave's PROFIBUS
[}58]tab).
1. If the DP connection is to be removed immediately (Leave Data Exch, default setting) the slave is removed from the polling list and is no longer addressed in the following DP cycles until the DP connection is established once again. In order to re-establish the DP connection to the slave, at least 7 telegrams are sent, and the process generally requires at least 10-20ms.
2. If the DP connection is only to be removed when the slave has not answered (or not answered correctly) within the DP watchdog time (Stay in Data-Exch (for WD-Time)), a further attempt is made in
the next polling cycle to address the slave, but if the slave does not answer, a repeat is not sent.
The "Stay in Data-Exch (for WD-Time))" (2.) setting makes sense if the PROFIBUS cycle is to continue to
operate at the most regular possible period even if a slave fails, and if the failure of a slave for one or more
cycles can be tolerated (e.g. in the DP/MC (Equidistant) [}25] operation mode). In this case the DP
watchdog time for the slave should be set according to the tolerable outage time of the slave, and the Max
Retry limit (DX) (TwinCAT 2.8: see PROFIBUS [}42] tab of the master, TwinCAT 2.9: see Bus Parameters
[}49] dialog) should be set to 0.
Normal DP cycle (12Mbit/s, 5slaves, on average 20bytes I, 20bytes O per slave) in mode "Stay in
Data Exch (for WD time)"
FC3101 and FC3102 17Version: 3.0
FC310x as master
Fig.13: Normal DP cycle for Stay in Data Exch (for WD time)
first faulty and subsequent DP cycles in the "Stay in Data-Exch (for WD-Time)" mode (slave 3 does
not respond)
Fig.14: First faulty and subsequent DP cycles for Stay in Data Exch (for WD time)
Changes of the slave's input data if the slave does not respond correctly
Here you can specify whether the input data of the slave are set to 0 if the slave fails ("Inputs will be set to
0", default setting) or whether the old value should be retained ("No changes"). In either case the DpState
[}25] of the slave is set to value other than 0, so that the task can always recognize whether or not the data
is valid. If a slave gives a faulty answer, the input data is always set to 0, independently of the setting of
Changes of the Input Data.
Setting the slave's restart behavior if the DP connection to the slave is removed
This specifies whether the DP connection to slave whose DP connection has been removed is automatically
re-established, or whether this should be done manually as a result of a call to ADS-WriteControl (see ADS-
Interface [}28]).
The reaction of the master if the DP connection to the slave is removed
This specifies whether removing the DP connection to a slave has no other effects (No Reaction, the default
setting), or whether the master should enter the STOP state, thus removing the DP connections to all the
slaves.
Effect on the state of the master (Clear mode), if the DP connection to the slave is removed
Clear mode (TwinCAT 2.8: see PROFIBUS [}42] tab of the master, TwinCAT 2.9: see Fault Settings [}51]
dialog) can be used to specify that the master should switch to or remain in "Clear" state, as long as at least
one MC slave (setting: "Only MC slaves") or any slave (setting: "All slaves") does not respond correctly (i.e.
has a DpState [}25] not equal 0).
The Reaction of the Master setting (see the slave's Features [}59] tab), which was described in the
previous chapter, has priority over the Auto-Clear mode, so that when an appropriately set slave fails, the
Master enters the STOP state.
Failure of the master
Monitoring in the PLC/IO task
In the event of persistent bus faults, the DP cycle also may extend up to 100ms, even with 12Mbit/s. In
order to monitor the DP master, there is a status variable CycleCounter, and this can be linked in the PLC
(see the Master Diagnostics [}20] chapter). This variable is incremented by the master after each DP cycle,
so that failure of the master can be detected by monitoring this variable in the PLC.
FC3101 and FC310218 Version: 3.0
FC310x as master
Monitoring in the slave
In order to monitor failure of the master and data transmission on the PROFIBUS, a watchdog (see the
box's PROFIBUS [}58] tab) can be activated (default setting: watchdog activated with 200ms). The
Watchdog must be set to at least twice the maximum Estimated Cycle Time and Cycle Time (see
"FC310x" tab (for TwinCAT 2.8 [}40] or TwinCAT 2.9 [}48]) of the master).
Failure of the PLC/IO task
A distinction is made between a PLC stop, reaching a break point and a task stop (the I/O task and NC task
are only stopped when the entire system stops). In the case of a PLC stop, the output data is set to 0 by the
PLC, whereas when a breakpoint is reached the data initially remains unchanged.
In the master, the task is monitored with a monitoring time (TwinCAT 2.8: according to the setting Clear
Delay x task cycle time on the PROFIBUS [}42] tab of the master, TwinCAT 2.9: according to the setting
Task Watchdog x task cycle time in the Fault Settings [}51] dialog). If no new data transfer takes place
within this monitoring time, the master switches to "Clear" state according to the setting Reaction on PLC
Stop or Reaction on Task Stop (TwinCAT 2.8: see PROFIBUS [}42] tab of the master, TwinCAT 2.9: see
Fault Settings [}51] dialog) (outputs are set to 0 or safe state (Fail_Safe = 1 in the GSD file, default setting)
or remains in "Operate" state (outputs retain the last value). The "Operate" setting is valuable when the
outputs should not be cleared when a breakpoint is reached in the PLC. However, if the PLC stops, the
outputs will still be set to 0 (by the PLC), even if the master remains in the "Operate" state. It should,
however, be noted that the outputs will only be zeroed if the previous DP cycle is completed in time (see the
Synchronization [}12] chapter). It should therefore only be set during the commissioning phase.
Failure of the host
To monitor a host crash (e.g. blue screen on a PC), a watchdog time can be set (TwinCAT 2.8: see FC310x
[}40] tab of the master, TwinCAT 2.9: see Fault Settings [}51] dialog). If this watchdog timer elapses, the
master enters the OFFLINE state, so that the DP connections to all the slaves are removed, and the master
logs off from the PROFIBUS, ceasing to carry out bus accesses.
Start-up behavior
The DP connections to all the slaves are established when the TwinCAT system starts up. Until the highest
priority task that is involved has not been started, the master still does not send any Data_Exchange
telegrams even after the DP connection has been established, and sends only diagnostic telegrams. As
soon as the highest priority task has transferred data once, and the DP connection for the corresponding DP
slave has been established, the master cyclically (with the highest priority assigned task) sends one
Data_Exchange telegram to each of the corresponding slaves.
In addition, the Operate Delay and Clear Mode settings (TwinCAT 2.8: see PROFIBUS [}42] tab of the
master, TwinCAT 2.9: see Fault Settings [}51] dialog) can be used to specify when the master switches
from "Clear" state (outputs are set to 0 or safe state (Fail_Safe = 1 in the GSD file)) to "Operate" state
(outputs correspond to the outputs transferred by the task). The Operate Delay specifies the minimum
length of time for which the master should remain in the "Clear" state following the first transfer of data. As
has been described above, the Clear mode specifies whether the master changes into or remains in the
"Clear" state if a slave in general or an MC slave in particular fails.
Shut-down behavior
The reaction to the stopping of the TwinCAT system is exactly the same as has been described above in the
"Failure of the Host" chapter; the DP connections to all slaves are removed, and the master logs itself off
from the bus.
FC3101 and FC3102 19Version: 3.0
FC310x as master
3.4.3 FC310x - Master Diagnostics
Diagnostic Inputs
The master possesses a variety of diagnostic variables that describe the state of the card and of the
Profibus. They can be linked in the PLC:
Fig.15: Diagnostic variables of the PROFIBUS master
CdlInfo:
CdlInfo.error: Shows the number of slaves with which data exchange could not take place in the last cycle.
The BoxState of the slaves should only be checked if this value is not equal to 0.
CdlInfo.cycleCounter: Is incremented at the end of each PROFIBUS cycle in order that this variable can
indicate whether the last cycle was completed before the task was started.
CdlInfo.actualCycleTime: Shows the current cycle time in 4/25µs. This variable is updated only when all
slaves are involved in the data exchange (also when CdlInfo.error is 0).
CdlInfo.actualModulo: Indicates the current modulo. This variable is only of significance if the slaves are
prioritized (see the Slave Prioritization/Multiple DP Cycles [}14] chapter)
Counter: Used for the Redundancy mode [}38]
DiagFlag: Indicates whether the card's master diagnostic information has changed. It can then be read via
ADS [}28] by the control program, after that the "DiagFlag" variable is reset.
GlobalState: GlobalState[0] indicates the state of the FC310x, GlobalState[1-2] indicate global bus statuses,
while GlobalState[3] is reserved for extensions:
RESET (1): Card router not started (after start-up of the PC).
INIT (2): Router started but card not active on PROFIBUS.
STOP (3): Card active on PROFIBUS, but no cyclic data exchange.
FC3101 and FC310220 Version: 3.0
FC310x as master
STOPPING (4): Card ends cyclic data exchange.
RUN (0): Card in cyclic data exchange.
GlobalState[1] counts the detected bus errors (as from FC310x, version 1).
GlobalState[2]: Bit0 is set, if no 11bit idle time is detected on the PROFIBUS (-> check cabling), bit1
contains the operation mode CLEAR (bit1 = 1) or OPERATE (bit1 = 0), the other bits (2..7) are reserved for
expansions (from FC310x, version 1).
GlobalState[3] is reserved for expansions.
CycleFailedCounter: This counter shows how often the FC310x PROFIBUS cycle was unready at the start
of the TwinCAT task.
StartRedundantMasterFlag: Is used for the Redundancy mode [}38]
Master Diagnostics Data
The master diagnostic data can be read by ADS [}28]:
ADS-Read parameters Meaning
Net-ID
Port 200
IndexGroup 0x0000F100
IndexOffset Offset within the diagnostic data
Length Length of the diagnostic data that is to be read
Data Diagnostic data
Net-ID of the master (see the device's ADS [}44] tab)
The master diagnostic data has the following structure:
Offset Description
0 -125 BusStatus list, one byte per station address 0-125, which contains the station
status (see BoxState for PROFIBUS boxes, additional for stations that are not
configured: 0x80 - not available, 0x81 - slave, 0x82 - master not ready for token
ring, 0x83 - master ready for token ring, 0x84 - master in token ring)
126 - 127 reserved
128 - 135 State of the FC310x (->GlobalState)
136 - 137 Send error counter for all sent telegrams
138 - 139 Receive error counter for all received telegrams
140 - 255 reserved for extensions
256 - 257
258 - 259 Cycle Start Error Counter, counts up one when the PROFIBUS cycle is restarted
260 - 261
262 - 263 reserved for extensions
264 - 265 Minimum reload value of real-time timer
266 - 267
268 - 269
270 - 271
Sync Failed counter (see tab EquiDiag [}46] (TwinCAT 2.8) or MC-Diag [}46]
(TwinCAT 2.9))
before the old cycle is complete (intercepted by the TwinCAT-IO driver, only
possible with customized drivers)
Time Control Failed counter (see tab EquiDiag [}46] (TwinCAT 2.8) or MC-Diag
[}46] (TwinCAT 2.9))
Maximum reload value of the real-time timer (max. FCxxxx jitter (see tab EquiDiag
[}46] (TwinCAT 2.8) or MC-Diag [}46] (TwinCAT 2.9)) = max. reload value -
min. reload value)
PLL Overflow counter (see tab EquiDiag [}46] (TwinCAT 2.8) or MC-Diag [}46]
(TwinCAT 2.9))
PLL Underflow counter (see tab EquiDiag [}46] (TwinCAT 2.8) or MC-Diag
[}46] (TwinCAT 2.9))
FC3101 and FC3102 21Version: 3.0
FC310x as master
TcIo diagnostic data
The TcIo driver also generates diagnostic data that can be read, activated, deactivated and reset by ADS. It
is, however, deactivated by default. They are enabled if the tab EquiDiag [}46] or GeneralDiag [}44]
(TwinCAT 2.8) MC-Diag [}46] or DP-Diag [}54] of the device is selected and disabled if the tab if
deselected.
Activation, deactivation and resetting the TcIo diagnostic data
ADS-Write parameters Meaning
Net-ID PC Net-ID
Port 300
IndexGroup 0x00005000 + Device-Id (device's General tab)
IndexOffset 0xFFFFF100
Length 2
Data 0: Deactivation of the Tclo diagnostic data
1: Activation of the Tclo diagnostic data
2: Resetting the Tclo diagnostic data
Reading the Tclo diagnostic data
ADS-Read parameters Meaning
Net-ID PC Net-ID
Port 300
IndexGroup 0x00005000 + Device-Id (device's General tab)
IndexOffset 0xFFFFF100
Length Length of the Tclo diagnostic data
Data TcIo diagnostic data
The Tclo diagnostic data has the following structure:
FC3101 and FC310222 Version: 3.0
Offset Description
0 -3
4 - 7
8 - 11
12 - 15
16 - 19
20 - 23
24 - 27
28 - 31
32 - 35
36 - 39
40 - 43
44 - 47
48 - 51
52 - 55
56 - 59
60 - 63
64 - 67
Max. TwinCAT jitter (in 100ns, see tab EquiDiag [}46] (TwinCAT 2.8) or MC-
Diag [}46] (TwinCAT 2.9))
Min. mapping time (in 100ns, see tab EquiDiag [}46] (TwinCAT 2.8) or MC-Diag
[}46] (TwinCAT 2.9))
Min. mapping time (in 100ns, see tab EquiDiag [}46] (TwinCAT 2.8) or MC-Diag
[}46] (TwinCAT 2.9))
Max. FC310x jitter (in FC310x ticks, see tab EquiDiag [}46] (TwinCAT 2.8) or
MC-Diag [}46] (TwinCAT 2.9))
CycleWithNoDxch counter (see tab GeneralDiag [}44] (TwinCAT 2.8) or DP-Diag
[}44] (TwinCAT 2.9))
CycleWithRepeat counter (see tab GeneralDiag [}44] (TwinCAT 2.8) or DP-Diag
[}44] (TwinCAT 2.9))
Max. repeater/cycle (see tab GeneralDiag [}44] (TwinCAT 2.8) or DP-Diag [}44]
(TwinCAT 2.9))
Actual cycle time (in 4/25µs, see tab GeneralDiag [}44] (TwinCAT 2.8) or DP-
Diag [}44] (TwinCAT 2.9))
Max. cycle time (in 4/25µs, see tab GeneralDiag [}44] (TwinCAT 2.8) or DP-Diag
[}44] (TwinCAT 2.9))
Max. cycle time (in 4/25µs, see tab GeneralDiag [}44] (TwinCAT 2.8) or DP-Diag
[}44] (TwinCAT 2.9))
RealFailedCycle counter (see tab GeneralDiag [}44] (TwinCAT 2.8) or DP-Diag
[}44] (TwinCAT 2.9))
EquiCycleNoDxch counter (see tab EquiDiag [}46] (TwinCAT 2.8) or MC-Diag
[}46] (TwinCAT 2.9))
EquiCycleRepeat counter (see tab EquiDiag [}46] (TwinCAT 2.8) or MC-Diag
[}46] (TwinCAT 2.9))
Max. Repeats/Equi-Cycle (see tab EquiDiag [}46] (TwinCAT 2.8) or MC-Diag
[}46] (TwinCAT 2.9))
Actual Equi-Cycle-Time (in 4/25µs, see tab EquiDiag [}46] (TwinCAT 2.8) or MC-
Diag [}46] (TwinCAT 2.9))
Max. Equi-Cycle-Time (in 4/25µs, see tab EquiDiag [}46] (TwinCAT 2.8) or MC-
Diag [}46] (TwinCAT 2.9))
Min. Equi-Cycle-Time (in 4/25µs, see tab EquiDiag [}46] (TwinCAT 2.8) or MC-
Diag [}46] (TwinCAT 2.9))
FC310x as master
3.4.4 Slave diagnostics
DP-State
Each DP slave has a status variable that indicates the current state of that DP slave. This status is
maintained in real time, so that it is always adapted to the current DP slave data, and can be linked to a PLC
variable (-> DpState [}25] of the slave):
Fig.16: Slave diagnostics - DP state
FC3101 and FC3102 23Version: 3.0
FC310x as master
Diagnostic data
Each DP slave can acyclically report DP diagnostic data during data exchange operation. The slave here
sets the Diag_Flag in the response to the cyclic Data_Exchange telegram, as a result of which the DP
master automatically reads the DP diagnostic data from the slave. This does not affect the Data-Exchange
cycle in the Beckhoff DP master, because the DP diagnostic telegram is sent at the end of the cyclic DataExchange cycle, and before the beginning of the next cycle. If the DP diagnostic data read from the slave
has changed from its previous state, the DP master sets the "ExtDiagFlag" variable, which can be linked to a
variable in the control program.
The DP slave's current diagnostic data is displayed in the System Manager on the slave’s Diag [}62] tab. It
can also be read by the control program via ADS [}28], which will cause the "ExtDiagFlag" flag to be reset
once more:
ADS-Read parameters Meaning
Net-ID
Port 200
IndexGroup 0x00yyF181 (yy = station address of the slave)
IndexOffset Offset within the diagnostic data
Length Length of the diagnostic data that is to be read
Data Diagnostic data
Net-ID of the master (see the device's ADS [}44] tab)
The diagnostic data contains the slave statistics (32bytes) and the DP diagnostic data sent by the slave (up
to 244 bytes), and is constructed as follows:
Offset Meaning
Slave statistics
0 Receive Error Counter (WORD): The number of faulty telegrams occurring while
communicating with this slave
2 Repeat-Counter[8] (WORD): The Repeat Counters indicate how many repeats
have had to be made, and how often. Repeat Counter[0] indicates how often a
telegram had to be repeated once for this slave, Repeat Counter[1] indicates how
often a telegram had to be repeated twice for this slave, etc. The maximum number
of retries is set with the parameter Max Retry Limit (TwinCAT 2.8: see PROFIBUS
[}42] tab of the master, TwinCAT 2.9: see Bus Parameters [}49] dialog). The
value range is from 0 to 8, therefore there are 8 repeat counters (for 1 to 8 retries)
18 reserved for extensions
20 NoAnswer Counter (DWORD): The number of telegrams in communication with
this slave that have not received an answer. The first time that a slave fails to
answer, the telegram is repeated up to MaxRetryLimit times, but if it does not
answer even then, further telegrams are not repeated.
24-27 Last-DPV1-Error[4] (BYTE): The last faulty DPV1 response is entered here (byte0:
DPV1 service (bit7 is set, indicating an error), byte1: Error_Decode, byte2:
Error_Code_1 (Error_Class/Error_Code), byte3: Error_Code_2), see description
DPV1 error codes [}71]
27-31 reserved for future use
from 32
DP diagnostic data [}69]
FC3101 and FC310224 Version: 3.0
FC310x as master
3.4.5 DP State of the Slaves
ValueDescription
0 No Error - station is exchanging data
1 Station deactivated - slave has been deactivated, temporary state during StartUp
2 Station not exists - slave does not reply on the bus -> check whether slave is switched on, whether
PROFIBUS plug is in, correct station address or bus cables
3 Master lock - slave is exchanging data with another master -> remove other master from bus or
release slave again by other master
4 Invalid slave response - incorrect answer from slave, occurs temporarily if slave has ceased data
exchange as a result of a local event
5 Parameter fault - check whether Bus Coupler / GSD file is correct, that station address is correct or
that UserPrmData settings are correct
6 Not supported - DP function is not supported -> check whether GSD file is correct or whether station
address is correct
7 Config fault – configuration fault -> check whether the added terminals / modules are correct
8 Station not ready -> station starting up, temporarily displayed during StartUp
9 Static diagnosis - slave signaling static diagnosis and cannot deliver valid data at present -> check
operating state at the slave
10 Diagnosis overflow - slave signaling a diagnosis overflow -> check diagnostic data (using ADS-Read,
see below) and operating state at the slave
11 Physical fault - physical fault interfering with slave response -> check cables
13 Severe bus fault -> check cabling
14 Telegram fault - slave responding with an invalid telegram -> must not occur
15 Station has no resources -> slave has insufficient resources for the telegram -> check that GSD file is
correct
16 Service not activated -> temporary fault when slave ceases data exchange due to a local event,
otherwise check whether DP functions are disabled at the slave
17 Unexpected telegram -> can occur temporarily if two PROFIBUS networks are connected together or
check whether bus times for the second master are set identically.
18 Station ready -> can occur temporarily during StartUp and until the task is started
19 DPV1 StartUp -> occurs temporarily after the DP has started up if there is still data to be sent by
DPV1 Write
128 FC310x in slave mode, waiting for data transfer -> slave was parameterized and configured but has
not yet received a Data_Exchange telegram
129 FC310x in slave mode, waiting for configuration -> slave was parameterized, but has not yet received
a Chk_Cfg telegram
130 FC310x in slave mode, waiting for parameters -> slave was not yet parameterized, waiting for
Set_Prm (Lock) telegram
3.5 PROFIBUS MC
The difference between PROFIBUS MC and PROFIBUS DP is that the PROFIBUS cycle is constant, with a
jitter of a few microseconds (for PROFIBUS DP, the jitter is greater than 100µs), and at the start of the cycle
a broadcast global control telegram is sent, which can be used by the MC slaves for synchronization. This
enables precise synchronization of drive control loops with the NC.
However, this precise synchronization means that bus disturbances, switching off of slaves, pulling of bus
plugs etc. will usually lead to a loss of synchronicity between master and slave, since the bus timing is
changed.
FC310x with Simodrive 611U has Plug&Play functionality
The following steps are required for operating a Simodrive 611U on a FC310x:
FC3101 and FC3102 25Version: 3.0
FC310x as master
1. Set FC310x to operation mode "DP/MC (equidistant)".
2. Append box "Siemens AG, Profidrive MC".
3. Adjust 611U station address ("PROFIBUS" box tab).
4. Append axis (or 2 axes for 611U with 2 axes) to NC task, select axis type "continuous axis".
5. Link axis (or axes) with 611U (select axis type "ProfiDrive MC" in the "Settings" axis tab, then link with
611U; for a 2-axis 611U, both axes have to be linked, otherwise a 611U error will occur).
6. Press the "Calculate Equi-Times" button on the "FC310x" tab at the FC310x.
7. Save project in the registry and start TwinCAT. The 611U should now change to RUN, the axis can be
operated via the NC online menu.
Should this not be the case, check the following:
• DpState of the 611U in TwinCAT is 2: Check 611U station address.
• DpState of the 611U in TwinCAT is 5: Check whether the correct PROFIBUS module is inserted at the
611U.
• DpState of the 611U in TwinCAT is 7: Check whether P922 is set to the correct standard telegram
(according to the ProcessData tab for 611U in the System Manager).
• DpState of the 611U in TwinCAT is 0, but 611U still does not change to RUN: Check the 611U
firmware version; for firmware versions below 3.4.3, 611U synchronization errors (error 597 or 598) can
only be rectified via a hardware reset of the 611Us, otherwise look up the error code in the Siemens
manual.
If several 611Us are configured, the equidistant times may have to be adjusted (see below).
DP/MC Equidistant Mode
In order to operate the FC310x with PROFIBUS MC, the Operation Mode "DP/MC (equidistant)" must be
set on the tab "FC310x" (for TwinCAT 2.8 [}40] or TwinCAT 2.9 [}48]) of the master. Whichever task uses
the equidistant functionality of the FC310x (usually the NC task) should have the highest priority, as
otherwise the synchronicity can be disturbed. Additionally, the Sync Mode can be selected. This specifies
where the synchronization signal is generated.
Disabled (PC is Sync Master)
The synchronization signal is generated by the PC, the FC310x synchronizes itself with the PC (PROFIBUS
cycle jitter approx. 2-4µs).
Fig.17: PC is Sync Master
The NC Access Time specifies by how much the PROFIBUS cycle is shifted towards the TwinCAT cycle,
the PLL Sync Time should be set to approx. 10% of the NC-Access-Time (max. 50µs).
Sync Slave
The synchronization signal comes from another device, whose Sync mode must be set to "Sync Master".
The connection between the sync master and the sync slave is made through a hardware link. This is only
supported as from FC310x hardware version 4 and firmware version 3.00. No times have to be set.
FC3101 and FC310226 Version: 3.0
FC310x as master
Sync Master
The synchronization signal is generated by the FC310x, the PC synchronizes itself with the FC310x (jitter of
the PROFIBUS cycle approx. 1µs).
Fig.18: FC310x is Sync Master
The NC Access Time specifies by how much the TwinCAT cycle is shifted towards the PROFIBUS cycle.
Setting of Equidistant Times
The Calculate Equi-Times button (TwinCAT 2.8: see FC310x [}40] tab, TwinCAT 2.9: see MC [}52] tab)
can be used to automatically set all equidistant parameters. The only parameter that may possibly have to
be adjusted later is the NC Access Time, because this depends on the maximum TwinCAT jitter and on the
maximum mapping time. This in turn depends on all the devices, so that adding and linking boxes to other
devices has the effect that it may nevertheless be necessary to change the NC Access Time for an
unchanged device. If "I/O not at task start" is selected (see the Synchronization [}12] chapter), then the NC
Access Time also depends on the task runtime. To avoid having to manually adjust the NC Access Time
every time the Calculate Equi-Times button is pressed, the ratio of NC Access Time to Cycle Time can be
specified (set to 15% in delivery state).
Disabled (PC is Sync Master) or Sync Master
The NC Access Time must be greater than the maximum TwinCAT jitter plus the maximum mapping time,
plus, if "I/O not at task start" is selected for whichever task linked to the FC310x has the highest priority, it's
task runtime.
Diagnostics of Equidistant Times
The EquiDiag [}46] tab (TwinCAT 2.8) or MC-Diag [}56] tab (TwinCAT 2.9) in the SystemManager can
be used for diagnosing the equidistance times, or this can be done via ADS in the control program (see
chapterMaster diagnostics [}20]).
FC3101 and FC3102 27Version: 3.0
FC310x as master
3.6 ADS (acyclic communication)
3.6.1 ADS Interface
All acyclic data are transmitted to or from the FC310x via ADS-Read, ADS-Write or ADS-Write-Control. The
FC310x has its own Net-ID and supports the following ports:
Port Description
200 This addresses the FC310x itself, i.e. data that reside locally on the FC310x, and for
which usually no additional bus access is required
0x1000 - 0x107E This addresses a connected PROFIBUS device, with the address calculated from
port-0x1000; this always involves a bus access
ADS-Read
An overview of the IndexGroups/IndexOffsets supported by the FC310x during ADS-Read is provided below.
IndexGroup for local FC310x addressing (port 200)
IndexGroup (LoWord)
0xF100 0x00 BYTE offset
0xF181 0x00-0x7E BYTE offset
0xF830 0x8000-0x807Ealways 0 This enables detection of the DP slaves present at the
0xF840 0 BYTE offset
IndexGroup
(Hi-Word)
IndexOffset Description
This reads the diagnostic data from the FC310x. If the ADS-Read
within the data
within the data
within the data
is answered without error (error code = 0), the data will contain
the diagnostic data of the FC310x described in the Master
Diagnostics [}20] chapter. The FC310x will reset the FC310x
DiagFlag. It will be set again, if the FC310x diagnostic data
change again.
This will read the diagnostic data of a configured DP slave. The
station address is calculated from the IndexGroup(Hi-Word). If the
ADS Read is answered without error (error code = 0), the data will
contain the diagnostic data of a configured DP slave described in
the Slave diagnostics [}23] chapter.
PROFIBUS, independent of whether they were configured or not.
The station address is calculated from IndexGroup(HiWord)-0x8000. If the ADS-Read is answered without error (error
code = 0), the corresponding DP slave has answered correctly.
The data contain the Ident no. of the slave (BYTE offset 0-1) and
the read CfgData (from BYTE offset 2) (see chapter Upload
Configuration [}34]).
This will read the firmware version and the station address of the
FC310x. If the ADS-Read is answered without error (error code =
0), the data will contain the firmware version (BYTE offset 0-1)
and the station address of the FC310x (BYTE offset 2).
FC3101 and FC310228 Version: 3.0
IndexGroup for addressing of a configured PROFIBUS device (port 0x1000-0x107E)
FC310x as master
IndexGroup (LoWord)
0x00-0xFF 0x00 0x00-0xFF This will send a DPV1-Read to the appropriate, configured DPV1
0x100-0x1FF0x00 0x00-0xFF This will send a DPV1-Read to the appropriate, configured DPV1
0x0000 0xFFF
0 0x01000000 0 This will send FDL-Read for Siemens AG interfacing to the
IndexGroup
(Hi-Word)
0x10000000
0xF0000000
IndexOffset Description
slave via a Class 1 connection; the DPV1 slot number
corresponds to the IndexGroup, the DPV1 index corresponds to
the IndexOffset. If the ADS-Read is answered without error (error
code = 0), the data will contain the read DPV1 data (see chapter
DPV1 [}31])
slave via a Class 2 connection; the DPV1 slot number
corresponds to the IndexGroup - 0x100, the DPV1 index
corresponds to the IndexOffset. If the ADS-Read is answered
without error (error code = 0), the data will contain the read DPV1
data (see chapter DPV1 [}31])
0x00-0xFF This will transmit a PKW-Read to the appropriate, configured
PROFIDRIVE slave; the parameter number (PNU) is contained in
the Low WORD of the IndexGroup, the subindex for access to an
array is in the IndexOffset, the addressed axis is in bits 28-31 of
the IndexGroup (for a 1-axis unit, this must be 1), the PKW
compatibility can be adjusted in bits 26,27 (unfortunately, not all
PROFIDRIVE slaves are compatible, see chapter PKW Interface
[}35]).
appropriate configured FDL station (see chapter S5-FDL [}36]).
ADS-Write
An overview of the IndexGroups/IndexOffsets supported by the FC310x during ADS-Write is provided below.
IndexGroup for local FC310x addressing (port 200)
IndexGroup (LoWord)
0xF100 0x00 0 -2 This will reset the equidistant diagnostic data (IndexOffset = 0),
IndexGroup
(Hi-Word)
IndexOffset Description
the Repeat counters (IndexOffset = 1) or the NoAnswer counters
(IndexOffset = 2) of the FC310x.
FC3101 and FC3102 29Version: 3.0
FC310x as master
IndexGroup for addressing of a configured PROFIBUS device (port 0x1000-0x107E)
IndexGroup (LoWord)
0x00-0xFF 0x00 0x00-0xFF This will send a DPV1-Write to the appropriate, configured DPV1
0x100-0x1FF0x00 0x00-0xFF This will send a DPV1-Write to the appropriate, configured DPV1
0x400 0x00 0x00 With this, a DPV1 Abort is sent to the appropriate configured
0x0000 0xFFF
0 0x01000000 0 This will send FDL-Write for Siemens AG interfacing to the
0 0x02000000 0 This will send a SetSlaveAddress command to a configured DP
IndexGroup
(Hi-Word)
0x10000000
0xF0000000
IndexOffset Description
slave via a Class 1 connection; the DPV1 slot number
corresponds to the IndexGroup, the DPV1 index corresponds to
the IndexOffset (see chapter DPV1 [}31]).
slave via a Class 2 connection; the DPV1 slot number
corresponds to the 0x100 IndexGroup, the DPV1 index
corresponds to the IndexOffset (see chapter DPV1 [}31]).
DPV1 slave via a class 2 connection; the abort parameters are
included in the data (-> chapter DPV1 [}31]).
0x00-0xFF This will transmit a PKW-Write to the appropriate, configured
PROFIDRIVE slave; the parameter number (PNU) is contained in
the Low WORD of the IndexGroup, the subindex for access to an
array is in the IndexOffset, the addressed axis is in bits 28-31 of
the IndexGroup (for a 1-axis unit, this must be 1), the PKW
compatibility can be adjusted in bits 26,27 (unfortunately, not all
PROFIDRIVE slaves are compatible, see chapter PKW Interface
[}35]).
appropriate configured FDL station (see chapter S5-FDL [}36]).
slave, whereby the DP slave must be configured with the new
station address; the old station address must be entered at BYTE
offset0 of the ADS-Write data. Furthermore, the Ident no. of the
slave must be contained under BYTE offset 1 and 2, and BYTE
offset 3 must contain information as to whether the slave may be
modified later (0) or not (not equal 0). Altogether, 4bytes of ADSWrite data will therefore have to be sent.
ADS-ReadWrite
An overview of the IndexGroups/IndexOffsets supported by the FC310x during ADS-ReadWrite is provided
below.
IndexGroup for addressing of a configured PROFIBUS device (port 0x1000-0x107E)
IndexGroup (LoWord)
0x100-0x1FF0x00 0x00-0xFF This will send a DPV1-Data_Transport to the appropriate,
0x200 0x00 0x00 With this, a DPV1 Initiate is sent to the appropriate configured
ADS-WriteControl
An overview of the ADS-Write-Control commands supported by the FC310x is provided below.
IndexGroup
(Hi-Word)
IndexOffset Description
configured DPV1 slave via a Class 2 connection; the DPV1 slot
number corresponds to the 0x100 IndexGroup, the DPV1 index
corresponds to the IndexOffset (see chapter DPV1 [}31]).
DPV1 slave via a class 2 connection; the initiate parameters are
included in the data (-> chapter DPV1 [}31]).
FC3101 and FC310230 Version: 3.0
ADS-WriteControl for local FC310x addressing (port 200)
FC310x as master
AdsState DeviceState State of the
FC310x
STOP (6) 0x00 RUN (5) This will stop the FC310x, i.e. the process data connections to all
RUN (5) 0x00 STOP (6) This will restart the FC310x after a stop, i.e. the process data
ADS-WriteControl for addressing a configured PROFIBUS device (port 0x1000-0x107E)
AdsState DeviceState State of the
FC310x
STOP (6) 0x00 RUN (5) This will stop the slave, i.e. the process data connection to the
RUN (5) 0x00 STOP (6) This will restart the slave after a stop, i.e. the process data
ADS Error Codes
The 32 bit ADS error code always consists of a general ADS error code (Low Word, see ADS
documentation) and a FC310x-specific, unique error code (High Word, -> chapter FC310x ADS error codes
[}37]). The appropriate text message will also be displayed in the TwinCAT System Manager Logger.
Description
DP slaves (Data_Exchange) are removed (with SetPrm,Unlock).
connections to all DP slaves (Data_Exchange) are re-established
(normal DP start-up).
Description
relevant DP slave (Data_Exchange) is removed (with
SetPrm,Unlock).
connection to the relevant DP slave (Data_Exchange) is reestablished (normal DP start-up).
3.6.2 PROFIBUS DPV1
On a C1 connection, the master supports the Read and Write services, and on the C2 connection it supports
the Read, Write, Data_Transport, Initiate and Abort services.
C1 Connection (MSAC-C1)
The C1 connection is reserved for the master that cyclically exchanges data with the slave (C1 master). In
order for a slave to be able to use the C1 connection, the slave must support DPV1 (this means that the line
"DPV1_Slave = 1" and the keyword "C1_Max_Data_Len" with an appropriate length must be in the GSD
file). If it is also generally necessary to activate the C1 functionality by setting bit 7 in the PrmData byte 0
(see the slave's PROFIBUS [}58] tab) for the corresponding slave (this is done automatically for those
Beckhoff devices that support DPV1).
MSAC-C1-Read is shown in ADS-Read, and MSAC-C1-Write is mapped in ADS-Write:
MSAC-C1 Read
ADS-Read parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup Slot number (DPV1 parameter)
IndexOffset Index (DPV1 parameter)
Length Length of the data that is to be read
Data In response: data that has been read
Net-ID of the master (see the device's ADS [}44] tab)
FC3101 and FC3102 31Version: 3.0
FC310x as master
MSAC-C1 Write
ADS-Write parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup Slot number (DPV1 parameter)
IndexOffset Index (DPV1 parameter)
Length Length of the data that is to be written
Data In request: data that is to be written
C2 connection (MSAC-C2)
The C2 connection is as a rule intended for a second master (C2 master) that does not communicate with
the slave cyclically, but it is also possible for the C1 master to make use of the C2 connection. In order for a
slave to be able to use the C2 connection, the slave must support DPV1 (this means that the line
"DPV1_Slave = 1" and the keyword "C2_Max_Data_Len" with an appropriate length must be in the GSD
file).
The connection is automatically established by the master as soon as a Read, Write or Data_Transport
access is requested; it can, however, also be explicitly established through an Initiate. When the connection
is being established automatically, the master sends the Initiate parameters that have most recently been
passed (see the description of Initiate), and initializes the Initiate parameters with 0 after a TwinCAT start (or
restart); monitoring of the connection is an exception - this is initialized in accordance with the value set in
the System Manager (Watchdog under DPV1 Class 2 on the slave's PROFIBUS [}58] tab).
Net-ID of the master (see the device's ADS [}44] tab)
It is also necessary for the C2 functionality to be activated for each slave that is to be addressed using C2
services by selecting the Enable check box under DPV1 Class 2 (see the slave's PROFIBUS [}58] tab).
If a different master performs cyclic data exchange with the slave, then the "No cyclic connection" setting
must be chosen under DP Class 2 (see the slave's PROFIBUS [}58] tab). This could, for instance, be useful
in order to be able to debug a BC3100/IL23xx-C310 over PROFIBUS, even though it is being operated by an
external controller.
MSAC-C2-Read is mapped in ADS-Read, MSAC-C2-Write in ADS-Write, MSAC-C2-Data_Transport in ADSReadWrite, MSAC-C2-Initiate in ADS-ReadWrite, and MSAC-C2-Abort in ADS-Write:
MSAC-C2 Read
ADS-Read parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup 0x100 + slot number (DPV1 parameter)
IndexOffset Index (DPV1 parameter)
Length Length of the data that is to be read
Data In response: data that has been read
MSAC-C2 write
ADS-Write parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup 0x100 + slot number (DPV1 parameter)
IndexOffset Index (DPV1 parameter)
Length Length of the data that is to be written
Data In request: data that is to be written
Net-ID of the master (see the device's ADS [}44] tab)
Net-ID of the master (see the device's ADS [}44] tab)
FC3101 and FC310232 Version: 3.0
FC310x as master
MSAC-C2 Data_Transport
ADS-ReadWrite parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup 0x100 + slot number (DPV1 parameter)
IndexOffset Index (DPV1 parameter)
Write-Length Length of the data that is to be written
Read-Length Length of the data that is to be read
Data In request: data that is to be written; in Response: data that has
MSAC-C2 Initiate
The MSAC-C2-Initiate service allows the C2 connection to the slave to be established or, if it already exists,
for new Initiate parameters to be passed.
ADS-ReadWrite parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup 0x200 + slot number (DPV1 parameter)
IndexOffset 0
Read-Length Length of the Initiate Response parameter (6)
Write-Length Length of the Initiate Request parameter (10 - 42)
Data Initiate Request parameter or Initiate Response parameter
Net-ID of the master (see the device's ADS [}44] tab)
been read
Net-ID of the master (see the device's ADS [}44] tab)
Initiate Request parameter
0x00 - 0x01 Feature_Supported
0x02 - 0x03 Profile_Feature_Supported
0x04 - 0x05 Profile_Ident_number
0x06 sType
0x07 sLen: Length of sAddr (0 - 16)
0x08 dType
0x09 dLen: Length of dAddr (0 - 16)
0x0A - 0x19 sAddr
0x1A - 0x29 dAddr
Initiate Response parameter
0x00 - 0x01 Feature_Supported (value received from slave)
0x02 - 0x03 Profile_Feature_Supported (value received from slave)
0x04 - 0x05 Profile_Ident_number (value received from slave)
MSAC-C2 Abort
The MSAC-C2 Abort service allows the C2 connection to the slave to be removed again.
FC3101 and FC3102 33Version: 3.0
FC310x as master
ADS-Write parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup 0x400 + slot number (DPV1 parameter)
IndexOffset 0
Length Length of the Abort parameter (3)
Data In request: Abort parameter
Abort parameter
0x00 Reason_Code
0x01 - 0x02 Additional_Detail
Net-ID of the master (see the device's ADS [}44] tab)
3.6.3 Uploading the Configuration
The PROFIBUS can be scanned by ADS [}28] Read for new devices during operation:
ADS-Read parameters Meaning
Net-ID
Port 200
IndexGroup 0xzzyyF830 (yy = station address, zz = 0: for Beckhoff devices, tables 0,1 and 9
IndexOffset 0
Length 1538
Data Configuration data of the slave
Net-ID of the master (see the device's ADS [}44] tab)
are read, zz = 0x80: Beckhoff devices provide the same information as thirdparty devices)
If the IndexGroup indicates that, for Beckhoff devices, tables 0, 1 and 9 are to be read, then the following
data is supplied, provided the device is a Beckhoff device:
Offset Description
0 -1 0
2 -513 Table 0. Amongst the information contained here is the precise coupler type and
the firmware version
514 - 1025 Table 9 (includes the coupler number and the terminal numbers)
1026 - 1537 Table 1 (only relevant for bus controllers. The assignment of the terminals is
part of the information contained here)
If the device is from another manufacturer, or if the IndexGroup indicates that Beckhoff devices are to
behave in exactly the same way as devices from other manufacturers, then the following information is
returned in the ADS read response:
Offset Description
0 -1 1
2 - 7
8 - 251
DP diagnostic data bytes 0-5 (see Slave Diagnostics [}23])
DP configuration data (CfgData [}73])
FC3101 and FC310234 Version: 3.0
FC310x as master
3.6.4 PKW Interface of PROFIDRIVE Slaves
The PKW interface is integrated into the FC310x; it can then be accessed via ADS [}28] from the control
program. PKW Read is then mapped in ADS Read, PKW Write in ADS Write and PKW-Read No Of Array
Elements in ADS Read:
PKW Read
ADS-Read parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup Bits0-11: parameter number (PNU)
IndexOffset Subindex (for ARRAY access)
Length Parameter length: 2 or 4
Data In response: Parameter value
Net-ID of the master (see the device's ADS [}44] tab)
Bits12-25: 0
Bit26: 1 = Subindex in octet 3 (standard), 0 = subindex in octet 4 (Simodrive
611U)
Bit27: 1 = ARRAY codes are not supported by PROFIDRIVE slave
Bits28-31: axis number (for single axis modules always 1)
PKW Write
ADS-Write parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup Bits0-11: parameter number (PNU)
IndexOffset Subindex (for ARRAY access)
Length Parameter length: 2 or 4
Data In request: Parameter value
PKW ReadNoOfArrayElements
ADS-Read parameters Meaning
Net-ID
Port 0x1000 + station address of the slave
IndexGroup Bits0-11: parameter number (PNU)
IndexOffset 0
Length Parameter length: 1
Data In response: Number of the parameter 's array elements
Net-ID of the master (see the device's ADS [}44] tab)
Bits12-25: 0
Bit26: 1 = Subindex in octet 3 (standard), 0 = subindex in octet 4 (Simodrive
611U)
Bit27: 1 = ARRAY codes are not supported by PROFIDRIVE slave
Bits28-31: axis number (for single axis modules always 1)
Net-ID of the master (see the device's ADS [}44] tab)
Bits12-15: 0
Bit16: 1
Bits17-25: 0
Bit26: 1 = Subindex in octet 3 (standard), 0 = subindex in octet 4 (Simodrive
611U)
Bit27: 1 = ARRAY codes are not supported by PROFIDRIVE slave
Bits28-31: axis number (for single axis modules always 1)
FC3101 and FC3102 35Version: 3.0
FC310x as master
3.6.5 S5-FDL Communication
FDL-AGAG communication is possible with S5 controllers or with other PROFIBUS FDL devices. The
following specifications apply here to the PROFIBUS SAPs:
FC310x sends
SDA request with DSAP = station address + 1 of the FC310x and SSAP = station address + 1 of the other
FDL device. Data corresponds to the data length passed with the ADS write. The SDA telegram is only sent
when there is a call to ADS write:
ADS-Write parameters Meaning
Net-ID
Port 0x1000 + station address of the other FDL device
IndexGroup 0x01000000
IndexOffset 0
Length Length of the data that is to be written
Data In request: data that is to be written
Other FDL device sends:
Net-ID of the master (see the device's ADS [}28] tab)
SDA request with DSAP = station address + 1 of the other FDL device and SSAP = station address + 1 of
the FC310X. Data corresponds to the data length set at the other FDL device. The FC310x temporarily
stores the received data which can be read by ADS read:
ADS-Read parameters Meaning
Net-ID
Port 0x1000 + station address of the other FDL device
IndexGroup 0x01000000
IndexOffset 0
Length Length of the received data
Data In response: received data. There is a receive counter at the end of the received
ADS-Read parameters Meaning
Net-ID
Port 0x1000 + station address of the other FDL device
IndexGroup 0x04000000
IndexOffset Station address of the other FDL device * 2
Length 2
Data In response: receive counter, incremented with each reception
Net-ID of the master (see the device's ADS [}28] tab)
data that is incremented with every reception
Net-ID of the master (see the device's ADS [}28] tab)
FC3101 and FC310236 Version: 3.0
FC310x as master
3.6.6 ADS Error Codes of the FC310x
Error code Meaning
0x1129 IndexOffset too large during reading of the FC310x diagnostic data
0x112B IndexOffset too large during reading of the slave diagnostic data
0x112D Invalid station address during reading of the slave diagnostic data
0x2023 Invalid IndexOffset during resetting of the FC310x diagnostic data
0x2024 Invalid data during resetting of the FC310x diagnostic data
0x2025 Invalid data length during resetting of the FC310x diagnostic data
0x2101 DPV1-C1-Read: cyclic connection to slave not yet established
0x2102 PKW-Read: only data lengths 2 and 4 are permitted
0x2103 PKW-Read: slave not in data exchange
0x2105 PKW-Read: slave does not support PKW
0x2106 PKW-Read: Incorrect IndexOffset
0x2107 PKW-Read: Incorrect IndexGroup
0x2109 DPV1-C1-Read: FDL fault (no response etc.)
0x210A DPV1-C1-Read: syntax error (DPV1 syntax not correct)
0x210B DPV1-C1-Read: DPV1 fault (4 bytes error code in the diagnostic data of the slave)
0x210C PKW-Read: syntax error
0x210D PKW-Read: PKW error
0x210E PKW-Read: incorrect data type
0x210F DPV1-C1-Write: cyclic connection to slave not yet established
0x2110 PKW-Write: only data lengths 2 and 4 are permitted
0x2111 PKW-Write: Incorrect IndexOffset
0x2112 PKW-Write: slave does not support PKW
0x2113 PKW-Write: Incorrect IndexGroup
0x2114 Read general: Incorrect IndexGroup
0x2115 DPV1-C1-Write: FDL fault (no response etc.)
0x2116 DPV1-C1-Write: syntax error (DPV1 syntax not correct)
0x2117 DPV1-C1-Write: DPV1 fault (4 bytes error code in the diagnostic data of the slave)
0x211C Read general: Incorrect IndexGroup
0x211D SetSlaveAdress: Incorrect IndexOffset
0x211E FDL-AGAG-Write: Incorrect IndexOffset
0x211F FDL-AGAG-Read: Incorrect IndexOffset
0x2120 FDL-AGAG-Write: Incorrect length
0x2121 SetSlaveAddress: Incorrect length
0x2122 FDL-AGAG-Read: Incorrect length
FC3101 and FC3102 37Version: 3.0
FC310x as master
Error code Meaning
0x2131 Write general: wrong IndexGroup
0x2132 Write general: wrong IndexGroup
0x2137 PKW-Read: WORD received, but read data length does not equal 2
0x2138 PKW-Read: DWORD received, but read data length does not equal 4
0x2139 PKW-Read: unknown AK received (1,2 or 7 expected)
0x213A PKW-Read-Array: WORD received, but read data length does not equal 2
0x213B PKW-Read-Array: DWORD received, but read data length does not equal 4
0x213C PKW-Read-Array: unknown AK received (4,5 or 7 expected)
0x213D PKW-Write-Array: unknown AK received (2 or 7 expected)
0x213E PKW-Write: unknown AK received (1 or 7 expected)
0x213F PKW-Write: unknown AK received (2 or 7 expected)
0x2140 PKW-Write-Array: unknown AK received (1 or 7 expected)
0x2142 SetSlaveAddress: wrong parameter during setting of address in slave mode
0x2144 Incorrect IndexGroup in ReadWrite
0x2147 DPV1-C2-Initiate: MSAC_C2 is not activated
0x2148 Incorrect IndexGroup in Read
0x2149 Incorrect IndexGroup in Write
0x214E DPV1-C2-Read: MSAC_C2 is not activated
0x214F DPV1-C2-Write: MSAC_C2 is not activated
0x2150 DPV1-C2-DataTransport: MSAC_C2 is not activated
0x2151 DPV1-C2-Read: FDL fault (no response etc.)
0x2152 DPV1-C2-Read: connection aborted
0x2153 DPV1-C2-Read: DPV1 fault (4 bytes error code in the diagnostic data of the slave)
0x2154 PKW-ReadNoOfElements: length must equal 1
0x2155 PKW-ReadNoOfElements: PKW is not activated
0x2156 PKW-ReadNoOfElements: axis number is too great
0x2157 PKW-ReadNoOfElements: slave not in data exchange
0x2158 PKW-ReadNoOfElements: unknown AK received (6 or 7 expected)
0x215A DPV1-C2-Write: FDL fault (no response etc.)
0x215B DPV1-C2-Write: connection aborted
0x215C DPV1-C2-Write: DPV1 fault (4bytes error code in the diagnostic data of the slave)
0x215D DPV1-C2-DataTransport: FDL fault (no response etc.)
0x215E DPV1-C2-DataTransport: connection aborted
0x215F DPV1-C2-DataTransport: DPV1 fault (4 bytes error code in the diagnostic data of the
slave)
0x2163 DPV1-C2-DataTransport: Incorrect IndexOffset
0x2600-0x26FF AK 7 (error) during PKW processing, error code in low byte
0x2700-0x27FF Fault during DPV1 processing, 4bytes error code in the slave diagnostic data, byte3 of the
error code (error class, error code) is in Low byte
3.7 Master redundancy
It is possible to start the DP master in redundancy mode in order to assemble a redundant control system. In
this case, the DP master only listens to the bus, but is not active on it.
To assemble a redundant control system, two masters are on the PROFIBUS (both have identical
configurations): the primary master, which performs communication under normal circumstances, and the
redundancy master, which only listens to the bus without transmitting. The only difference in the PROFIBUS
configuration between primary and redundant master should be in the settings Redundancy Mode and
FC3101 and FC310238 Version: 3.0
FC310x as master
SetPrm Unlock before DP-Start-Up or SetPrm-Unlock at Shutdown (TwinCAT 2.8: see PROFIBUS [}42]
tab of the master, TwinCAT 2.9: see Fault Settings [}51] dialog) and perhaps the device watchdog
(TwinCAT 2.8: see FC310x [}40] tab of the master, TwinCAT 2.9: see Fault Settings [}51] dialog).
Primary-Master: the Redundancy Mode is not active. The settings of SetPrm-Unlock before DP Start-Up
and of SetPrm-Unlock at Shutdown should be deactivated, if there is to be no interaction on the DP slaves
when the primary master starts or stops (outputs remain unchanged). In addition, the device watchdog must
be set (TwinCAT 2.8: see FC310x [}40] tab of the master, TwinCAT 2.9: see Fault Settings [}51] dialog),
to ensure that the primary master logs off the bus in the event of a PC crash.
Redundancy Master: the Redundancy Mode is active. The settings of SetPrm-Unlock before DP StartUp and of SetPrm-Unlock at Shutdown should be deactivated, if there is to be no interaction on the DP
slaves when the primary master starts or stops (outputs remain unchanged).
There are also three counters and a StartRedundancyMasterFlag as interfaces to the PC:
Fig.19: Counter and StartRedundancyMasterFlag
Counter[2] (ReceivedTelegram-Counter): This counter is incremented every time a valid PROFIBUS
telegram is received
Counter[3] (ReceivedTelegramFromPrimary-Counter): This counter is incremented every time a valid
PROFIBUS telegram is received from the primary master (which has the same station address as the
redundancy master)
Counter[4] (ClaimTokenTimeout-Counter): This counter is incremented every time the redundancy master
detects a timeout on the bus after it has taken over bus activity under normal circumstances, i.e. with
Redundancy mode deactivated. (ClaimTokenTimeout time = (6 + 2 * station address of the DP master) *
slot time).
StartRedundancyMasterFlag: This can be used to start or stop the redundancy master.
The application (PLC task or other program) is therefore responsible for diagnosing a failure of the primary
master (by detecting that the ReciveTelegram-Counter and the ReceivedTelegramFromPrimaryMaster-
Counter no longer increment, that the ClaimTokenTimeout-Counter increments or the user-specific
FC3101 and FC3102 39Version: 3.0
FC310x as master
monitoring of the two PCs is triggered). The redundancy master only becomes active at the bus when the
StartRedundancyMaster flag is set (the startup takes approx. 10 times the min. slave interval (TwinCAT
2.8: see PROFIBUS [}42] tab of the master, TwinCAT 2.9: see Bus Parameters [}49] dialog). If the
StartRedundancyMaster flag is reset, the redundancy master stops its bus activity when the next token is
sent (at the end of the DP cycle, but no later than the Estimated Cycle Time (see "FC310x" tab (for
TwinCAT 2.8 [}40] or TwinCAT 2.9 [}48]) of the device)), without interrupting the connection to the slaves
(irrespective of the setting SetPrm-Unlock at Shutdown).
When setting the DP slave's DP watchdog (see the box's PROFIBUS [}58] tab) it is important to ensure that
the DP watchdog time is longer than the application's monitoring time for the primary master plus the start-up
time of the redundancy master, so that the redundancy master can take over the DP slave without
interactions.
The redundancy master, furthermore, does not update any process data as long as it is only listening to the
bus. The DpState [}25] of the boxes should be evaluated when it starts; if this is 0, the process data is also
up-to-date.
3.8 Device tab
3.8.1 TwinCAT 2.8
3.8.1.1 FC310x tab
Fig.20: TwinCAT 2.8 - FC310 tab
PCI Slot/Irq: Indicates in which logical PCI slot the card was found.
Search...: Searches for all connected FC310x channels. Select those required. In the case of an FC3102
both channels A and B appear. These behave in logical terms like two FC3101 cards.
Hardware Configuration...: The hardware version number of the FC310x can be displayed here
FC3101 and FC310240 Version: 3.0
FC310x as master
Upload Configuration...: The PROFIBUS is scanned with this command, and all the devices found are
added to the FC310x device. (A box may not be added in TwinCAT 2.8; as from TwinCAT 2.9 scanning can
also take place even when boxes are inserted. The FC310x then accepts the new configuration, but does
show changes). In the case of Beckhoff boxes, the configuration is read precisely. In the case of external
devices, the corresponding GSD file will be searched.
Verify Configuration...: This causes the PROFIBUS to be scanned and compared with the currently
inserted boxes. Changes are displayed (from TwinCAT 2.9).
Firmware: Displays the current FC310x firmware version.
Firmware Update...: This command can be used to update the FC310x card firmware.
Stations No.: Each Profibus device requires a unique station number - including the master.
Baud rate: Set the Profibus baud rate.
Operation Mode: In all three operation modes, the highest-priority task linked to the appropriate device will
take control of the PROFIBUS cycle and is therefore synchronized with the DP cycle (see the
Synchronization [}12] chapter). If this task is stopped or reaches a breakpoint, the FC310x switches to
CLEAR mode (slave outputs will assume 0 or safe values) (see the Error Reactions [}16] chapter). All other
tasks are served asynchronously via corresponding buffers. If one of these tasks is stopped or reaches a
breakpoint, the System Manager will generally display a message saying that the watchdog of the
appropriate asynchronous mapping has been activated, and the appropriate outputs are set to 0. For all
operation modes, one poll rate per slave can be set (in the Features [}59] tab for the Box). The sequence
of the slaves in the PROFIBUS cycle corresponds to the sequence in which they are located in the FC310x
device tree. The operation mode "DP" is designed for standard DP operation, the operation modes "DP/MC
(equidistant)" and "Equidistant (no GC)" are described in chapter PROFIBUS MC [}25], as well as the
parameters NC Access Time, Relation NC Access Time/Cycle Time, PLL Sync Time and Safety Time,
the Sync Mode settings and the Calculate Equi-Times button, which are only relevant for PROFIBUS MC.
Cycle Time: Displays the cycle time of the corresponding highest priority task.
Estimated Cycle: Displays the expected PROFIBUS cycle time.
Watchdog Time: Here a watchdog can be activated, which, in case of a PC crash, will cause the FC310x to
enter the STOP state and terminate the data exchange with all configured slaves (see Error Reactions
[}16]). The time is important in redundancy mode [}38] of the primary master.
Calculate DP-Slave Watchdog Time: This will set the DP watchdog time for all the DP slaves to a
reasonable value, in accordance with the formula Estimated cycle time * 10
FC3101 and FC3102 41Version: 3.0
FC310x as master
3.8.1.2 Profibus tab
Fig.21: TwinCAT 2.8 - Profibus tab
Slot-Time: The Slot-Time indicates how long the DP master will wait for a response from the DP slave
before it sends either a repetition or the next telegram.
min. Tsdr: The min. Tsdr indicates the minimum length of time for which the DP slave will wait with a
response. This time is set for all the DP slaves during the DP start-up (the value range is 11-255 bit periods).
The min. Tsdr must be smaller than the max. Tsdr.
max. Tsdr: The max. Tsdr indicates the maximum length of time for which the DP slave may wait with a
response. This time is set according to the DP slave's GSD file entries. The max. Tsdr must be smaller than
the slot time.
Max-Retry-Limit: The Max-Retry-Limit specifies how often a telegram should be repeated, if the device
addressed does not answer. The minimum value should be 1, so that, in case of an error, there will be at
least one repeat for acyclic telegrams (see the Error Reactions [}16] chapter).
Max-Retry-Limit (DX): Since the Data_Exchange telegram is repeated cyclically, a value of 0 could be used
for the repetition of the Data_Exchange telegram here, in order to keep the cycle relatively constant in
equidistant mode, even if there is no response from a device. However, in this case it would make sense to
set the Features [}59] tab for the box such that lack of response of the slave would not lead to DATA EXCH
being exited. The fact that a device has not responded is apparent from DpState [}25], which would not be
equal 0 for one cycle (see the Error Reactions [}16] chapter).
GAP Update: The GAP update asks all stations up to HSA at intervals to confirm their presence. It can be
en/disabled. The GAP update is relevant only for multi-master operation. In single master operation it
increases PROFIBUS cycle jitter and is therefore switched off by default.
GAP-Factor: The GAP factor determines how often the GAP update will be carried out (assuming it is
activated). The time between two GAP updates cycles is Gap-Factor * Target-Rot.-T.
HSA: The HSA specifies the highest active address up to which the GAP update is carried out (assuming it
is active).
Min. Slave-Int.: The MinSlaveInterval indicates the minimum cycle time with which the DP StartUp telegrams
are sent the DP slaves (it is determined from the settings found in the GSD file).
FC3101 and FC310242 Version: 3.0
FC310x as master
PROFIBUS Mode: This is where the selection is made between master [}10] functionality (the default
setting) and slave [}64] functionality.
Auto-Clear-Mode: It is possible to specify here whether the master enters (or stays in) the "Clear" state as
long as either at least one MC slave (the "Only MC-Slaves" setting) or any slave (the "All Slaves" setting)
does not respond correctly (has a DpState [}25] other than 0) (see the Error Reactions [}16] chapter).
Clear-Delay: The DP master changes automatically into the clear mode (the outputs of the slaves are set
either to 0 or to the fail-safe values) when it ceases to receive an interrupt from the associated task (e.g. a
PLC breakpoint has been reached, or the system has crashed). It is possible to specify here how many
missing tasks cycles can be tolerated before the master switches into the clear mode. This setting is
independent of the setting in the Auto-Clear-Mode.
Operate-Delay: The DP master changes automatically, observing the Auto-Clear-Mode, into the operate
state when the task is started. The transition from Clear to Operate can be delayed with the Operate delay
time. In the Clear state, all the outputs are set to 0 (if the DP slave does not support Fail_Safe values) or to
the Fail_Safe value (if the DP slave supports Fail_Safe), whereas in the Operate state the outputs have the
values specified by the task.
Reaction on PLC-STOP: It is possible to specify here whether the DP master should set the outputs to 0
when reaching a PLC stop or breakpoint, or should leave them unchanged (see the Fault Reactions [}16]
chapter).
Redundancy-Mode: Redundancy mode can be set here for the DP master. In that case all that it does is to
listen to the bus (see the Master Redundancy [}38] chapter).
SetPrm-Unlock before DP-Start-Up: Normally, during DP start-up, the DP master removes the cyclic
connections, so that the DP slave can always recognize that the DP master has restarted. In redundancy
mode, however, it may be specifically desirable for the DP slave to remain unaware of this, because the
switch-over from the primary master to the redundant master should not have any interactions for the DP
slave (see the Master Redundancy [}38] chapter).
SetPrm-Unlock at DP-Shutdown: Normally, during DP shut-down, the DP master removes the cyclic
connections, so that the DP slave can always recognize that the DP master has stopped. In redundancy
mode, however, it may be specifically desirable for the DP slave to remain unaware of this, because the
switch-over from the primary master to the redundant master should not have any interactions for the DP
slave (see the Master Redundancy [}38] chapter).
FC3101 and FC3102 43Version: 3.0
FC310x as master
3.8.1.3 ADS tab
The FC310x is an ADS device with its own Net-ID, which can be changed here. All ADS services
(diagnostics, acyclic communication) going to the FC310x must address this Net-ID.
Fig.22: TwinCAT 2.8 - ADS tab
3.8.1.4 General Diag tab
Fig.23: TwinCAT 2.8 - General Diag tab
Here, bus cabling problems and DP cycle times are displayed:
FC3101 and FC310244 Version: 3.0
FC310x as master
detected bus-errors: Here, the number of detected bus errors is displayed. If this counter is not equal 0, the
cabling should be checked (provided that no PROFIBUS connectors were pulled or inserted - usually there
are short bus disturbances during pulling or inserting of PROFIBUS connectors).
CycleWithRepeatCounter: Here, the number of PROFIBUS cycles is displayed, in which a telegram was
repeated at least once. Repetitions are also an indication that the physical bus characteristics are not 100%
OK.
max. Repeat/Cycle: Here, the maximum number of repetitions within a cycle is displayed.
min./max./actual Cycle-Time:Here, the minimum, maximum and current DP cycle time is displayed. Only
those cycles are considered, during which all slaves participated in the data exchange and no repetitions
occurred.
CycleWithNoDxch-Counter:Increments if not all slaves participate in the data exchange (i.e. have a
DpState not equal 0).
Real Failed-Cycle-Counter:Increments if the DP cycle was not completed before the next task cycle began
and all the slaves are involved in the data exchange (i.e. have a DpState of 0).
3.8.1.5 Box States tab
Fig.24: TwinCAT 2.8 - Box States tab
Here, an overview of all current box states, the Repeat counter (increments for each telegram repeat to the
slave) and the NoAnswer counter (increments every time the slave fails to answer) is displayed.
FC3101 and FC3102 45Version: 3.0
FC310x as master
3.8.1.6 EquiDiag tab
The "EquiDiag" tab is available for displaying various equidistant monitoring parameters online:
Fig.25: TwinCAT 2.8 - EquiDiag tab
TcIo-Statistics
max. TwinCAT-Jitter: Here, the maximum TwinCAT jitter is displayed; the measurement is reset as soon as
the tab is no longer active.
min./max. Mapping Time or NC Access Time: Here, the minimum or maximum NC Access Time is
displayed. Apart from the Mapping Time, this also contains the task runtime (provided that "IO at Task Start"
for the highest-priority task linked to the FC310x (usually the NC task) is set).
The NC Access Time should be greater than the sum of the two measured times (max. TwinCAT Jitter plus
max. Mapping Time or (NC) Task Time), with a safety margin of approx. 10%.
max. FCxxxx Jitter: This is only relevant for Sync Mode = "disabled". If the value is greater than 5, real-time
jitter will become excessive, and a more powerful PC should be used. If the associated (NC) task does not
have the highest priority, the maximum FCxxxx jitter can also be larger. This should be avoided.
FC310x-Statistics
Since the PROFIBUS MC slaves should always be added to the FC310x device first, they are always
addressed before the DP slaves in the DP cycle. This part of the DP cycle will be called Equi-Cycle below. If
the Equi-Cycle becomes greater than the To-time of the MC slaves, the last MC slaves at the FC310x device
will usually get a synchronization error (error 597 or 598 for Simodrive 611U).
max. Repeats/Equi-Cycle:This will show the maximum number of repeated Data_Exchange telegrams
during an Equi-Cycle. This will extend the Equi-Cycle, usually no repetitions should occur (unless a bus plug
was pulled or an MC slave was switched off).
min./max. Equi-Cycle:Here, the minimum or maximum Equi-Cycle Time is displayed.
Equi-Cycle Repeat Counter:Here, the number of telegram repetitions within the Equi-Cycle is displayed.
Equi-Cycle NoDxch Counter:Here, the number of occurrences is displayed, for which not all MC slaves
were in data exchange during an Equi-Cycle.
FC3101 and FC310246 Version: 3.0
FC310x as master
FC310x-Failed Counter
Sync-Failed Counter:This counter will increment if TwinCAT task and DP cycle are not synchronized with
each other. This may happen during start-up of the TwinCAT system, after which this counter should no
longer increment. If the associated (NC) task does not have the highest priority, this counter can also
increment. This should be avoided.
Time-Control-Failed Counter:This counter will increment if the PROFIBUS was not free at the time of the
DP cycle start. Possible causes are bus faults, non-existent device, a second master or a safety time that is
too small.
PLL-Overflow-/-Underflow-Counter: This counter is only relevant during Sync mode "disabled" and will
increment in case of excessive jitter of the TwinCAT task which the DP cycle uses for synchronization (this
may happen, for example, if the DP cycle is not synchronized with the highest-priority task). If the associated
(NC) task does not have the highest priority, this counter can also increment. This should be avoided.
To-Statistics
For each MC slave the To-time specifies when, relative to the DP cycle start, the slave should accept the
outputs received from the master. The MC slaves can be synchronized with each other, if the same To value
is set for all MC slaves. However, this value must be equal or greater than the Equi-Cycle Time plus a safety
margin of approx. 200µs. The To-time for all MC slaves is calculated with the button "Calc. Equi-Times" (see
above).
calc. To-Reserve: This contains the calculated To-Reserve (To-Time - Equi-Cycle-Time)
min./max. To-Reserve: Here, the min. or max. To-Reserve is measured.
Max. GC jitter (from TwinCAT 2.8)
Here, the maximum jitter of the DP cycle is measured (GC for global control telegram, which is always sent
at the start of a cycle). During start-up, the jitter may be somewhat greater, in the steady state it should not
exceed 1µs (for Sync mode "Sync Master") or 2µs (for Sync mode "Disabled").
FC3101 and FC3102 47Version: 3.0
FC310x as master
3.8.2 TwinCAT 2.9
3.8.2.1 FC310x tab
Fig.26: TwinCAT 2.9 - FC310x tab
PCI Slot/Irq: Indicates in which logical PCI slot the card was found.
Search...: Searches for all connected FC310x channels. Select those required. In the case of an FC3102
both channels A and B appear. These behave in logical terms like two FC3101 cards.
Identify Device...: Here an LED code can be output on the corresponding FC310x channel.
Stations No.: Each Profibus device requires a unique station number - including the master.
Baud rate: Set the Profibus baud rate.
Bus parameters (DP)...: The Bus parameters dialog [}49] is selected here.
Operation Mode: In all three operation modes, the highest-priority task linked to the appropriate device will
take control of the PROFIBUS cycle and is therefore synchronized with the DP cycle (see the
Synchronization [}12] chapter). If this task is stopped or reaches a breakpoint, the FC310x switches to
CLEAR mode (slave outputs will assume 0 or safe values) (see the Error Reactions [}16] chapter). All other
tasks are served asynchronously via corresponding buffers. If one of these tasks is stopped or reaches a
breakpoint, the System Manager will generally display a message saying that the watchdog of the
appropriate asynchronous mapping has been activated, and the appropriate outputs are set to 0. For all
operation modes, one poll rate per slave can be set (in the Features [}59] tab for the Box). The sequence
of the slaves in the PROFIBUS cycle corresponds to the sequence in which they are located in the FC310x
device tree. "DP" mode is used for standard DP operation; the operation modes "DP/MC (equidistant)" and
"Equidistant (no GC)" are described in the PROFIBUS-MC [}25] chapter.
Cycle Time: Displays the cycle time of the corresponding highest priority task.
Estimated Cycle: Displays the expected PROFIBUS cycle time.
DP-Cycles/Task-Cycle: This can be used to set several DP cycles in a task cycle, in order to obtain as
many new inputs as possible (see Slave prioritization/several DP cycles [}14] chapter).
FC3101 and FC310248 Version: 3.0
FC310x as master
Timing DP-Cycle...: Shows the timing of the DP cycle; this is particularly advantageous when slave
prioritization [}14] is used.
StartUp-/Fault-Settings...: This is used to select the Fault settings dialog [}51].
Firmware: Displays the current FC310x firmware version.
Firmware Update...: This command can be used to update the FC310x card firmware.
Hardware Configuration...: The hardware version number of the FC310x can be displayed here
Upload Configuration...: The PROFIBUS is scanned with this command, and all the devices found are
added to the FC310x device. (A box may not be added in TwinCAT 2.8; as from TwinCAT 2.9 scanning can
also take place even when boxes are inserted. The FC310x then accepts the new configuration, but does
show changes). In the case of Beckhoff boxes, the configuration is read precisely. In the case of external
devices, the corresponding GSD file will be searched.
Verify Configuration...: This causes the PROFIBUS to be scanned and compared with the currently
inserted boxes. Changes are displayed (from TwinCAT 2.9).
3.8.2.2 Bus parameters dialog
Fig.27: TwinCAT 2.9 - Bus Parameters dialog
Slot-Time: The Slot-Time indicates how long the DP master will wait for a response from the DP slave
before it sends either a repetition or the next telegram.
min. Tsdr: The min. Tsdr indicates the minimum length of time for which the DP slave will wait with a
response. This time is set for all the DP slaves during the DP start-up (the value range is 11-255 bit periods).
The min. Tsdr must be smaller than the max. Tsdr.
max. Tsdr: The max. Tsdr indicates the maximum length of time for which the DP slave may wait with a
response. This time is set according to the DP slave's GSD file entries. The max. Tsdr must be smaller than
the slot time.
GAP-Factor: The GAP factor determines how often the GAP update will be carried out (assuming it is
activated). The time between two GAP updates cycles is Gap-Factor * Target-Rot.-T.
FC3101 and FC3102 49Version: 3.0
FC310x as master
Max-Retry-Limit: The Max-Retry-Limit specifies how often a telegram should be repeated, if the device
addressed does not answer. The minimum value should be 1, so that, in case of an error, there will be at
least one repeat for acyclic telegrams (see the Error Reactions [}16] chapter).
Max-Retry-Limit (DX): Since the Data_Exchange telegram is repeated cyclically, a value of 0 could be used
for the repetition of the Data_Exchange telegram here, in order to keep the cycle relatively constant in
equidistant mode, even if there is no response from a device. However, in this case it would make sense to
set the Features [}59] tab for the box such that lack of response of the slave would not lead to DATA EXCH
being exited. The fact that a device has not responded is apparent from DpState [}25], which would not be
equal 0 for one cycle (see the Error Reactions [}16] chapter).
HSA: The HSA specifies the highest active address up to which the GAP update is carried out (assuming it
is active).
Min. Slave-Int.: The MinSlaveInterval indicates the minimum cycle time with which the DP StartUp telegrams
are sent the DP slaves (it is determined from the settings found in the GSD file).
PROFIBUS Mode: This is where the selection is made between master [}10] functionality (the default
setting) and slave [}64] functionality.
Redundancy-Mode: Redundancy mode can be set here for the DP master. In that case all that it does is to
listen to the bus (see the Master Redundancy [}38] chapter).
GAP Update: The GAP update asks all stations up to HSA at intervals to confirm their presence. It can be
en/disabled. The GAP update is relevant only for multi-master operation. In single master operation it
increases PROFIBUS cycle jitter and is therefore switched off by default.
Optimize bus parameters: This is used to set the optimized bus parameters.
Default bus parameters: This is used to set the default bus parameters.
FC3101 and FC310250 Version: 3.0
3.8.2.3 Fault Settings dialog
FC310x as master
Fig.28: TwinCAT 2.9 - Fault Settings dialog
SetPrm-Unlock before DP-Start-Up: Normally, during DP start-up, the DP master removes the cyclic
connections, so that the DP slave can always recognize that the DP master has restarted. In redundancy
mode, however, it may be specifically desirable for the DP slave to remain unaware of this, because the
switch-over from the primary master to the redundant master should not have any interactions for the DP
slave (see the Master Redundancy [}38] chapter).
SetPrm-Unlock at DP-Shutdown: Normally, during DP shut-down, the DP master removes the cyclic
connections, so that the DP slave can always recognize that the DP master has stopped. In redundancy
mode, however, it may be specifically desirable for the DP slave to remain unaware of this, because the
switch-over from the primary master to the redundant master should not have any interactions for the DP
slave (see the Master Redundancy [}38] chapter).
Operate-Delay: The DP master changes automatically, observing the Auto-Clear-Mode, into the operate
state when the task is started. The transition from Clear to Operate can be delayed with the Operate delay
time. In the Clear state, all the outputs are set to 0 (if the DP slave does not support Fail_Safe values) or to
the Fail_Safe value (if the DP slave supports Fail_Safe), whereas in the Operate state the outputs have the
values specified by the task.
Reaction on task STOP: It is possible to specify here whether the DP master should set the outputs to 0
when reaching a PLC stop or breakpoint, or should leave them unchanged (see the Fault Reactions [}16]
chapter).
Task-Watchdog: The DP master changes automatically into the clear mode (the outputs of the slaves are
set either to 0 or to the fail-safe values) when it ceases to receive an interrupt from the associated task (e.g.
a PLC breakpoint has been reached, or the system has crashed). It is possible to specify here how many
missing tasks cycles can be tolerated before the master switches into the clear mode. This setting is
independent of the setting in the Clear mode.
FC3101 and FC3102 51Version: 3.0
FC310x as master
Clear-Mode: It is possible to specify here whether the master enters (or stays in) the "Clear" state as long as
either at least one MC slave (the "Only MC-Slaves" setting) or any slave (the "All Slaves" setting) does not
respond correctly (has a DpState [}25] other than 0) (see the Error Reactions [}16] chapter).
Windows watchdog: Here a watchdog can be activated, which, in case of a PC crash, will cause the
FC310x to enter the STOP state and terminate the data exchange with all configured slaves (see Error
Reactions [}16]). The time is important in redundancy mode [}38] of the primary master.
Set WD individually for each slave: Here you can select whether the WD should be set individually for
each slave (on the Profibus [}58] tab of the box)
DP-Watchdog-Time: If the checkbox "Set WD individually for each slave" is not ticked, the DP watchdog
can be set here to a uniform value for all slaves.
Calculate DP-Slave Watchdog Time: This is used to set the DP watchdog time for all DP slaves to a
sensible value.
3.8.2.4 MC tab
Fig.29: TwinCAT 2.9 - MC tab
Task-Access-Time (Shift-Time): This time must be greater than the maximum TwinCAT jitter plus the
maximum mapping time (see chapter PROFIBUS MC [}25])
Task access time/task cycle time: This ratio makes sense if you want to avoid manually adjusting the task
access time when using the Calculate MC-Times button.
PLL-Sync-Time: Only relevant for Sync-Mode Disabled, sets the PLL window on the FC310x
Task Cycle Time: Displays the cycle time of the corresponding highest priority task
Estimated DP-Cycle Time: Displays the expected PROFIBUS cycle time.
Estimated Mapping Time: Indicates the expected mapping time.
Set To on Box: The To-time can be set individually for each slave on the Prm data (text) [}62] tab of the
box
Set Ti on Box: The Ti-time can be set individually for each slave on the Prm data (text) [}62] tab of the box
FC3101 and FC310252 Version: 3.0
FC310x as master
To-Time: If the checkbox Set To on Box is not ticked, the To-time can be set to the same value for all
slaves.
Ti-Time: If the checkbox Set Ti on Box is not ticked, the Ti-time can be set to the same value for all slaves
Estimated Equi-Cycle Time: Shows the DPV2 part of the expected PROFIBUS cycle time.
Calculate MC-Times: This button can be used to calculate all DPV2 times automatically
Sync-Mode: The Sync-Mode decides whether the FC follows the PC (disabled) or whether the PC follows
the FC (master), in order to synchronize the TwinCAT cycle with the PROFIBUS cycle
3.8.2.5 ADS tab
The FC310x is an ADS device with its own Net-ID, which can be changed here. All ADS services
(diagnostics, acyclic communication) going to the FC310x must address this Net-ID.
Fig.30: TwinCAT 2.9 - ADS tab
FC3101 and FC3102 53Version: 3.0
FC310x as master
3.8.2.6 DP Diag tab
Fig.31: TwinCAT 2.9 - DP-Diag tab
Here, bus cabling problems and DP cycle times are displayed:
detected bus-errors: Here, the number of detected bus errors is displayed. If this counter is not equal 0, the
cabling should be checked (provided that no PROFIBUS connectors were pulled or inserted - usually there
are short bus disturbances during pulling or inserting of PROFIBUS connectors).
CycleWithRepeatCounter: Here, the number of PROFIBUS cycles is displayed, in which a telegram was
repeated at least once. Repetitions are also an indication that the physical bus characteristics are not 100%
OK.
max. Repeat/Cycle: Here, the maximum number of repetitions within a cycle is displayed.
min./max./actual Cycle-Time:Here, the minimum, maximum and current DP cycle time is displayed. Only
those cycles are considered, during which all slaves participated in the data exchange and no repetitions
occurred.
CycleWithNoDxch-Counter:Increments if not all slaves participate in the data exchange (i.e. have a
DpState not equal 0)
Real Failed-Cycle-Counter:Increments if the DP cycle was not completed before the next task cycle began
and all the slaves are involved in the data exchange (i.e. have a DpState of 0).
FC3101 and FC310254 Version: 3.0
3.8.2.7 Box States tab
FC310x as master
Fig.32: TwinCAT 2.9 - Box States tab
Here, an overview of all current box states, the Repeat counter (increments for each telegram repeat to the
slave) and the NoAnswer counter (increments every time the slave fails to answer) is displayed.
FC3101 and FC3102 55Version: 3.0
FC310x as master
3.8.2.8 MC Diag tab
The "EquiDiag" tab is available for displaying various equidistant monitoring parameters online:
Fig.33: TwinCAT 2.9 - MC-Diag tab
TcIo-Statistics
max. TwinCAT-Jitter: Here, the maximum TwinCAT jitter is displayed; the measurement is reset as soon as
the tab is no longer active.
min./max. Mapping Time or NC Access Time: Here, the minimum or maximum NC Access Time is
displayed. Apart from the Mapping Time, this also contains the task runtime (provided that "IO at Task Start"
for the highest-priority task linked to the FC310x (usually the NC task) is set).
The NC Access Time should be greater than the sum of the two measured times (max. TwinCAT Jitter plus
max. Mapping Time or (NC) Task Time), with a safety margin of approx. 10%.
max. FCxxxx Jitter: This is only relevant for Sync Mode = "disabled". If the value is greater than 5, real-time
jitter will become excessive, and a more powerful PC should be used. If the associated (NC) task does not
have the highest priority, the maximum FCxxxx jitter can also be larger. This should be avoided.
FC310x-Statistics
Since the PROFIBUS MC slaves should always be added to the FC310x device first, they are always
addressed before the DP slaves in the DP cycle. This part of the DP cycle will be called Equi-Cycle below. If
the Equi-Cycle becomes greater than the To-time of the MC slaves, the last MC slaves at the FC310x device
will usually get a synchronization error (error 597 or 598 for Simodrive 611U).
max. Repeats/Equi-Cycle:This will show the maximum number of repeated Data_Exchange telegrams
during an Equi-Cycle. This will extend the Equi-Cycle, usually no repetitions should occur (unless a bus plug
was pulled or an MC slave was switched off).
min./max. Equi-Cycle:Here, the minimum or maximum Equi-Cycle Time is displayed.
Equi-Cycle Repeat Counter:Here, the number of telegram repetitions within the Equi-Cycle is displayed.
Equi-Cycle NoDxch Counter:Here, the number of occurrences is displayed, for which not all MC slaves
were in data exchange during an Equi-Cycle.
FC3101 and FC310256 Version: 3.0
FC310x as master
FC310x-Failed Counter
Sync-Failed Counter:This counter will increment if TwinCAT task and DP cycle are not synchronized with
each other. This may happen during start-up of the TwinCAT system, after which this counter should no
longer increment. If the associated (NC) task does not have the highest priority, this counter can also
increment. This should be avoided.
Time-Control-Failed Counter:This counter will increment if the PROFIBUS was not free at the time of the
DP cycle start. Possible causes are bus faults, non-existent device, a second master or a safety time that is
too small.
PLL-Overflow-/-Underflow-Counter: This counter is only relevant during Sync mode "disabled" and will
increment in case of excessive jitter of the TwinCAT task which the DP cycle uses for synchronization (this
may happen, for example, if the DP cycle is not synchronized with the highest-priority task). If the associated
(NC) task does not have the highest priority, this counter can also increment. This should be avoided.
To-Statistics
For each MC slave the To-time specifies when, relative to the DP cycle start, the slave should accept the
outputs received from the master. The MC slaves can be synchronized with each other, if the same To value
is set for all MC slaves. However, this value must be equal or greater than the Equi-Cycle Time plus a safety
margin of approx. 200µs. The To-time for all MC slaves is calculated with the button "Calc. Equi-Times" (see
above).
calc. To-Reserve: This contains the calculated To-Reserve (To-Time - Equi-Cycle-Time).
min./max. To-Reserve: Here, the min. or max. To-Reserve is measured.
Max. GC jitter (from TwinCAT 2.8)
Here, the maximum jitter of the DP cycle is measured (GC for global control telegram, which is always sent
at the start of a cycle). During start-up, the jitter may be somewhat greater, in the steady state it should not
exceed 1µs (for Sync mode "Sync Master") or 2µs (for Sync mode "Disabled").
FC3101 and FC3102 57Version: 3.0
FC310x as master
3.9 Box tab
3.9.1 Profibus tab
Fig.34: Profibus tab
Stations No.: Here, the PROFIBUS station address must be set for each slave. For some slaves, the station
address cannot be set in the hardware, but only via the SetSlaveAddress service. In this case, the button
"Set.." should be pressed. This will open a dialog, through which transmission of a SetSlaveAddress
telegram can be triggered.
Watchdog: Activates the DP watchdog. If the slave does not receive a DP telegram for the duration of the
watchdog time with the watchdog switched on, it will automatically exit the data exchange. The minimum
watchdog time to be set depends on the DP cycle time, and should be larger than the value calculated by the
following formula: Estimated-Cycle-Time * 10
For particularly critical outputs it is possible to set a DP watchdog time down to as little as 2ms for DP slaves
that support a watchdog base time of 1ms (namely all Beckhoff slaves with the exception of the BK3000 and
BK3100, and any third-party devices whose GSD file contains the entry "WD_Base_1ms_supp = 1"). The DP
watchdog time should, however, be at least twice as long as the greater of the Cycle time and the
Estimated cycle time (see the master's FC310x [}40] tab).
Ident No.: Here, the Ident number from the GSD file is displayed.
PrmData: Allows editing of the Profibus-specific parameter data. The values of the current parameter data
are also displayed. The PrmData can usually be set as text (-> PrmData (text)) or for Beckhoff DP slaves
partly via the "Beckhoff" tab
CfgData: The current configuration data (resulting from the attached modules or terminals) as well as their
length is displayed.
FC3101 and FC310258 Version: 3.0
FC310x as master
Sync/Freeze: In operation mode DP/MC (equidistant) of the master, slaves can be operated with Sync and
Freeze [}15].
DPV1 Class 2: With FC310x, a DPV1 class 2 connection to a DPV1 slave can be activated. This is a good
idea, for example, if the DP slave is in data exchange with another master, but should nevertheless be
addressed acyclically by TwinCAT. The class 2 connection monitoring time is set via the timeout parameter
(see chapter DPV1 [}31]).
DP Class 2: "No Cyclic Connection" or "ReadOnly" should be selected under DP class 2, if the DP slave is in
data exchange with another master, but should nevertheless be addressed acyclically by TwinCAT, or the
DP inputs and outputs should be read cyclically. If "ReadOnly" is selected, then the modules are to be
selected as in the case of the normal cyclic connection. They all, however, appear in the TwinCAT system
with input variables, regardless of whether they are in fact input or output modules (ReadOnly only as from
firmware version 3.00).
ResetSlave: With this button, provided TwinCAT has been started, cyclic data exchange with the DP slave
can be disabled and re-established immediately (corresponds to a IO reset but only for the one slave).
3.9.2 Features tab
Fig.35: Features tab
Data_Exchange Poll Rate: For each slave a different polling rate (divider) can be set. Divider 1 means that
the slave is polled in each cycle, Divider 2 means every second cycle, etc. The Modulo parameter can be
used to allocate slaves with divider greater than 1 to different cycles, in order to reduce the maximum cycle
time (Divider 2 and Modulo 0 means that the slave is polled in each even cycle, Divider 2 and Modulo 1
means that the slave is polled in each odd cycle) (see chapter Slave prioritization/several DP cycles [}14]).
Additional Data_Exchange Samples: It is possible to run a number of DP cycles within one task cycle. It is
then optionally possible for each slave to be supplied with different output data in each DP cycle, and for the
input data from each of those DP cycles to be transferred to the controller. In this case, there is an individual
set of variables for each DP cycle (see the Slave Prioritization/Multiple DP Cycles [}14] chapter).
FC3101 and FC3102 59Version: 3.0
FC310x as master
NoAnswer-Reaction: You can specify, for each slave, whether it should remain in the Data Exch, despite
responding incorrectly or not at all. In this case (Stay in Data-Exch), data exchange is only exited if the slave
has never responded correctly within the address monitoring time (provided the watchdog (see the box's
Profibus [}58] tab) is activated, otherwise data exchange is only terminated once the slave has not
responded correctly 65535 times) (see the Error Reactions [}16] chapter).
Restart-Behaviour: It is possible to specify for each slave whether, after leaving Data-Exch, it should
automatically start up again, or should remain in the Wait-Prm state (see chapter Error Reactions [}16]).
Reaction of the Master: You can specify for each slave, whether its exit from Data-Exch should cause the
PROFIBUS cycle to stop (all slaves abandon data exchange and go into Wait Prm mode, restart after IO
reset or TwinCAT system restart) (see chapter Error Reactions [}16]).
Changes of the Input Data: For each slave it can be specified whether, on exiting of Data Exch (DpState
not equal 0), its input data should be set to 0 or remain unchanged (see chapter Error Reactions [}16]).
acyclic Services: The number of parallel ADS services to one box can be set here.
3.9.3 Beckhoff tab
Fig.36: Beckhoff tab
FirmwareUpdate: This button enables updating of the firmware of a Beckhoff DP slave over a KS2000 cable
via the serial interface
2 byte PLC interface: Switches on the 2 byte PLC interface of the Beckhoff DP slave.
Synchron K-Bus-Update: For Bus Couplers, the expected internal cycle time (K-bus cycle + DP buffer
transfer) is specified here.
Check Terminals during Start-Up: If this checkbox is activated, table 9 is transferred to the coupler by
means of DPV1 write, and the coupler only enters data exchange (DpState = 0) if the entries agree. This
makes it possible to check the terminals more precisely when starting up than is done with PROFIBUS
CfgData.
K-Bus Error: It is possible to specify the reaction to a K-bus error here (automatic or manual K-bus reset,
reaction in the input data in the coupler)
FC3101 and FC310260 Version: 3.0
FC310x as master
PROFIBUS Error: It is possible to specify the reaction to a PROFIBUS error here (reaction in the output data
in the coupler)
Measure Coupler-Cycle: It is possible here to measure the cycle time for the coupler (DP + K-Bus); the Kbus update time is sometimes rather imprecise for synchronized processes.
3.9.4 ProcessData tab
Fig.37: ProcessData tab
Under Siemens AG or Profidrive MC, the boxes Profidrive MC and Profidrive MC (twice) may be selected. By
default the box is allocated the settings for a Simodrive 611U with standard telegram 3. For other PROFIBUS
MC slaves, the ID number on the Profibus [}58] tab of the slave has to be changed accordingly. The
required telegram type can be set on the ProcessData tab and must usually correspond with parameter 922
of the PROFIBUS MC slave, which can be set via a manufacturer-specific configuration tool (SimoCon U for
Simodrive 611U).
This tab also contains a "PKW interface" checkbox, which activates the PKW interface. In online mode, this
can be used to display the box parameters on the Online tab (at present this only works with the Simodrive
611U, since a parameter file is required, which is generated by the SimoCon U). In any case it is possible to
read and write the parameters via the PKW interface per ADS (see chapter PKW Protocol [}35]).
FC3101 and FC3102 61Version: 3.0
FC310x as master
3.9.5 PrmData (text) tab
Fig.38: PrmData (text) tab
Click on a line to change the current value. The description of the respective settings can be found in the
documentation of the relevant manufacturer.
3.9.6 Diag tab
Fig.39: Diag tab
The following information can be displayed here:
FC3101 and FC310262 Version: 3.0
FC310x as master
BoxState: The current DpState [}25] is displayed here.
Receive-Error-Counter: Number of disturbed telegrams from the slave.
Repeat Counter: Number of required repetitions due to missing or disturbed response from the slave.
NoAnswer-Counter: Number of telegrams that remained unanswered by the slave.
Last DPV1 error: Error-Decode, Error-Class, Error-Code and Error-Code 2 (see description of the DPV1
Error Codes [}71]).
For Beckhoff DP slaves, further diagnostic information will be displayed.
FC3101 and FC3102 63Version: 3.0
FC310x as slave
4 FC310x as slave
4.1 Slave
As a slave, the PROFIBUS DP and PROFIBUS DPV1 protocols are supported.
PROFIBUS DP
In order to configure the slave for cyclic DP operation, proceed as follows in the TwinCAT System Manager:
Configure DP slave
It is first necessary to configure a "PROFIBUS Slave FC310x, PCI" I/O device (right-click on "I/O devices",
and then selecting "Append Device"). The device and a box are appended (to this end the GSD file
"TCDPSLAV.GSD" must be in directory "TwinCAT\Io\PROFIBUS"):
Fig.40: FC310x appended as slave
Find the corresponding channel on the tab "FC310x" (TwinCAT 2.8 [}40] or TwinCAT 2.9 [}48]) of the
device ("Search" button), adjust the station address and the baud rate, if necessary (the default setting is
12Mbit/s).
Append modules
Modules are to be appended to the box corresponding to the data that is to be transferred cyclically. This is
done by clicking with the right mouse button on the box, and then selecting "Append modules":
FC3101 and FC310264 Version: 3.0
FC310x as slave
Fig.41: Append modules
Configuring the Master
The GSD file "TCDPSLAV.GSD" is to be taken out of the "TwinCAT\Io\PROFIBUS" directory to configure the
master. The modules must be inserted in the master configuration in the same sequence as they are in the
configuration of the slave in the System Manager.
Error Reactions
In the default setting the inputs of the DP slave are set to 0, if the DP slave is not involved in data exchange.
It is possible to change this input error reaction to "No changes" under Changes of the Input Data on the
"Features" tab for the box:
Fig.42: Features
FC3101 and FC3102 65Version: 3.0
FC310x as slave
PROFIBUS DPV1
The DP slave supports a DPV1-MSAC_C1 server connection that is established along with the cyclic
connection. This can be used so that larger quantities of acyclic data can be transferred alongside the cyclic
data. A DPV1 read telegram received by the master is reported to the PLC as an ADS read indication, while
a DPV1 write telegram is reported to the PLC as an ADS write indication. The PLC program is then
responsible for the read or write response. To do this, the ADS read response or ADS write response
functions are to be called.
MSAC-C1 Read
A DPV1-MSAC_C1 read indication is mapped in an ADS read indication as follows:
ADS read indication parameter Meaning
Source-Net-ID (NETID)
Source-Port (PORT) 0x200
Invoke-ID (INVOKEID) A unique number that must reappear in the response
IndexGroup (IDXGRP) Slot number (DPV1 parameter)
IndexOffset(IDXOFFS) Index (DPV1 parameter)
Length (LENGTH) Length of the data that is to be read
An ADS read response is mapped in a DPV1-MSAC_C1 read response as follows:
Net-ID of the slave (see the device’s ADS [}44]tab)
ADS read response parameter Meaning
Destination-Net-ID (NETID)
Destination-Port (PORT) 0x200
Invoke-ID (INVOKEID) A unique number, as under indication
Result (RESULT) Result of the read: 0 = no error, otherwise: bits 0-15 = standard ADS
Length (LENGTH) Length of the data that has been read
Data (DATAADDR) read data
MSAC-C1 Write
A DPV1-MSAC_C1 write indication is mapped in an ADS write indication as follows:
ADS write indication parameter Meaning
Source-Net-ID (NETID)
Source-Port (PORT) 0x200
Invoke-ID (INVOKEID) A unique number that must reappear in the response
IndexGroup (IDXGRP) Slot number (DPV1 parameter)
IndexOffset(IDXOFFS) Index (DPV1 parameter)
Length (LENGTH) Length of the data that is to be written
Data (DATAADDR) data that is to be written
Net-ID of the slave (see the device’s ADS [}44] tab)
error codes, bits 16-23 = Error_Code_1, bits 24-31 = Error_Code_2,
see description of the DPV1 error codes [}71]
Net-ID of the slave (see the device’s ADS [}44] tab)
An ADS read response is mapped in a DPV1-MSAC_C1 read response as follows:
ADS read response parameter Meaning
Destination-Net-ID (NETID)
Destination-Port (PORT) 0x200
Invoke-ID (INVOKEID) A unique number, as under indication
Result (RESULT) Result of the read: 0 = no error, otherwise: bits 0-15 = standard ADS
Length (LENGTH) Length of the data that has been read
Net-ID of the slave (see the device’s ADS [}44] tab)
error code, bits 16-23 = Error_Code_1, bits 24-31 = Error_Code_2,
see description of the DPV1 error codes [}71]
FC3101 and FC310266 Version: 3.0
FC310x as slave
ADS Interface from TwinCAT 2.9
Communication can also take place via ADS in TwinCAT systems. The functionality is extremely similar to
that of an ADS connection between two PCs over Ethernet, although transmission takes place over
PROFIBUS, with the exception that the requester that initiates the ADS job is always the DP master PC. An
FC310x DP master is then linked to an FC310x-DP slave.
In the DP master, the ADS Interface should be activated on the ADS tab of the box, and the Net-ID of the
DP slave PC is to be entered:
Fig.43: Enabling the ADS interface on the DP master
For the DP slave, the Net-ID of the DP master PC should be entered under Add. NetIDs in the ADS tab of
the device:
FC3101 and FC3102 67Version: 3.0
FC310x as slave
Fig.44: ADS tab on the DP slave
FC3101 and FC310268 Version: 3.0
Appendix
5 Appendix
5.1 Diagnostic Data - DiagData
There follows a description of the DP diagnostic data
Offset Meaning
0x00.0 StationNonExistent: slave did not reply to the last telegram
0x00.1 StationNotReady: slave still processing the Set_Prm / Chk_Cfg telegram
0x00.2 CfgFault: slave signaling a configuration error
0x00.3 ExtDiag: extended DiagData available and valid
0x00.4 NotSupported: slave does not support a feature requested via Set_Prm or Global_Control
0x00.5 InvalidSlaveResponse: slave response not DP-compatible
0x00.6 PrmFault: slave reports a parameterization error
0x00.7 MasterLock: slave currently exchanging data with another master
0x01.0 PrmReq: re-parameterize and reconfigure slave
0x01.1 StatDiag: slave signaling static diagnostics / DPV1 slave application not yet ready for data
exchange
0x01.2 PROFIBUS-DP-Slave
0x01.3 WdOn: DP watchdog switched on
0x01.4 FreezeMode: DP slave in freeze mode
0x01.5 SyncMode: DP slave in sync mode
0x01.6 reserved
0x01.7 Deactivated: DP slave has been deactivated
0x02.0 reserved
0x02.1 reserved
0x02.2 reserved
0x02.3 reserved
0x02.4 reserved
0x02.5 reserved
0x02.6 reserved
0x02.7 ExtDiagOverflow: too much extended data present
0x03 MasterAdd: station address of master with which slave is exchanging data
0x04,0x05 IdentNumber
from 0x06 Extended DiagData
Extended DiagData
A distinction is made in the Extended DiagData between identification diagnosis, channel diagnosis and
manufacturer-specific diagnosis. The first byte indicates the type of the diagnosis and the length of the
associated data. In the Extended DiagData several diagnostic types can be entered consecutively.
Header Byte
Bit Meaning
0-5 Length of the associated diagnostic data, including header byte
6-7 0 = manufacturer-specific diagnostics (DPV1 is not supported) or DPV1 diagnostics (DPV1 is
supported (DPV1_Enable = 1) in associated GSD file)
Module diagnostics
Channel diagnostics
Revision number
FC3101 and FC3102 69Version: 3.0
Appendix
Manufacturer-specific diagnostics
The structure of the manufacturer-specific diagnostics may be found in the documentation for the DP slave.
DPV1 diagnostics
In the case of DP slaves that also support DPV1, the DPV1 diagnostics, in which a distinction is made
between status messages and alarms, is sent instead of the manufacturer-specific diagnostics.
Byte Meaning
0 Header-Byte (bits 6,7 = 0, bits 0-5 = 4..63)
1 Bits 0-6: Alarm type
Bit 7: always 0
2 Slot number (0-254)
3 Bits 0-1: Alarm specifier
Bit 2: Additional acknowledge
Bits 3-7: Sequence number
4-63 Manufacturer specific (see the documentation for the DP slave)
Alarm type
Value Meaning
0 reserved
1 Diagnostic alarm
2 Process alarm
3 Withdrawal alarm
4 Insertion alarm
5 Status alarm
6 Update alarm
7-31 reserved
20-126 Manufacturer specific (see the documentation for the DP slave)
127 reserved
Module diagnostics
The module diagnostics contain one bit for each DP module. The bit indicates whether a diagnosis for the
corresponding DP module is present.
Byte Meaning
0 Header byte (bits 6,7 = 1, bits 0-5 = 2..32)
1 Bit0: 1st DP module has diagnostics
Bit 1: 2nd DP module has diagnostics
...
Bit 7: 8th DP module has diagnostics
... ...
31 Bit 0: 241th DP module has diagnostics
Bit 1: 242th DP module has diagnostics
Bit 2: 243th DP module has diagnostics
Bit 3: 244th DP module has diagnostics (a maximum of 244 DP modules is possible)
Channel diagnostics
The channel diagnostics provide a closer description of the cause of the diagnosis of a DP module.
FC3101 and FC310270 Version: 3.0
Byte Meaning
0 Header byte = 0x83 (3 bytes including header, bits 6,7 = 2)
1 Bits 0-5: Channel number
Bits 6-7: 0 = reserved, 1 = input, 2 = output, 3 = input/output
2 Bits 0-4: Error type
Bits 5-7: Channel type
Error type
Value Meaning
0 reserved
1 Short circuit
2 Undervoltage
3 Overvoltage
4 Overload
5 Overtemperature
6 Wire breakage
7 Upper limit value exceeded
8 Value below lower limit
9 Error
10-15 reserved
16-31 Manufacturer specific (see the documentation for the DP slave)
Appendix
Channel type
Value Meaning
0 Any type
1 Bit
2 2 bit
3 4 bit
4 Byte
5 Word
6 2 words
7 reserved
Revision number
The structure of the revision number may be found in the documentation for the DP slave.
5.1.1 DPV1 Error Codes
In the event of an incorrect DPV1 access, the slave replies with 4 bytes of data (any values that are not
described here are not defined in the DPV1 standard, and are therefore to be found in the slave's manual):
Byte 0 DPV1 service
0xD1 Data_Transport
0xD7 Initiate
0xDE Read
0xDF Write
FC3101 and FC3102 71Version: 3.0
Appendix
Byte 1 Error_Decode
0x80 DPV1
0xFE FMS
0xFF HART
Byte 2 Error_Code_1
Error-Class (bits 4-7) Error-Code (bits 0-3)
0x0A 0x00 Application, Read Error
0x01 Application, Write Error
0x02 Application, Module Failure
0x08 Application, Version Conflict
0x09 Application, Feature Not Supported
0x0B 0x00 Access, Invalid Index
0x01 Access, Write Length Error
0x02 Access, Invalid Slot
0x03 Access, Type Conflict
0x04 Access, Invalid Area
0x05 Access, State Conflict
0x06 Access, Access Denied
0x07 Access, Invalid Range
0x08 Access, Invalid Parameter
0x09 Access, Invalid Type
0x0C 0x00 Resource, Read Constrain Conflict
0x01 Resource, Write Constrain Conflict
0x02 Resource, Busy
0x03 Resource, Unavailable
Byte 3 Error_Code_2
FC3101 and FC310272 Version: 3.0
Appendix
5.2 Configuration Data - CfgData
The CfgData describes the structure and length of the input and output data that is to be cyclically
exchanged via Data_Exchange. There follows a description of the DP configuration data bytes
Bits 4-7 Meaning
0000B Module without data. Bits0-3 indicate how many bytes of manufacturer-specific data are still to
follow
0001B Inputs of type byte, with no consistency. Bits0-3 contain the length of the input data minus 1
(i.e. bits0-3 = 0000B corresponds to a length of 1byte, while bits0-3 = 1111B corresponds to a
length of 16bytes)
0010B Outputs of type byte, with no consistency. Bits0-3 contain the length of the output data minus 1
(i.e. bits0-3 = 0000B corresponds to a length of 1byte, while bits 0-3 = 1111B corresponds to a
length of 16bytes)
0011B Inputs and outputs of type byte, with no consistency. Bits0-3 contain the length of the input or
output data minus 1 (i.e. bits0-3 = 0000B corresponds to a length of 1 byte, while bits0-3 =
1111B corresponds to a length of 16bytes)
0100B A special identification format for inputs. A byte follows that describes the associated input data
(see below). Bits0-3 indicate how many bytes of manufacturer-specific data are still to follow
0101B Inputs of type word, with no consistency. Bits0-3 contain the length of the input data minus 1
(i.e. bits0-3 = 0000B corresponds to a length of one word, while bits0-3 = 1111B corresponds
to a length of 16words)
0110B Outputs of type word, with no consistency. Bits0-3 contain the length of the output data minus
1 (i.e. bits0-3 = 0000B corresponds to a length of 1word, while bits0-3 = 1111B corresponds
to a length of 16words)
0111B Inputs and outputs of type word, with no consistency. Bits0-3 contain the length of the input or
output data minus 1 (i.e. bits0-3 = 0000B corresponds to a length of 1word, while bits0-3 =
1111B corresponds to a length of 16words)
1000B A special identification format for outputs. A byte follows that describes the associated output
data (see below). Bits0-3 indicate how many bytes of manufacturer-specific data are still to
follow
1001B Inputs of type byte, with consistency. Bits0-3 contain the length of the input data minus 1 (i.e.
bits0-3 = 0000B corresponds to a length of 1byte, while bits0-3 = 1111B corresponds to a
length of 16bytes)
1010B Outputs of type byte, with consistency. Bits0-3 contain the length of the output data minus 1
(i.e. bits0-3 = 0000B corresponds to a length of 1byte, while bits0-3 = 1111B corresponds to a
length of 16bytes)
1011B Inputs and outputs of type byte, with consistency. Bits0-3 contain the length of the input or
output data minus 1 (i.e. bits0-3 = 0000B corresponds to a length of 1byte, while bits0-3 =
1111B corresponds to a length of 16bytes)
1100B A special identification format for inputs and outputs. A byte first follows that describes the
associated output data, and then one describing the associated input data (see below). Bits0-3
indicate how many bytes of manufacturer-specific data are still to follow
1101B Inputs of type word, with consistency. Bits0-3 contain the length of the input data minus 1 (i.e.
bits0-3 = 0000B corresponds to a length of one word, while bits0-3 = 1111B corresponds to a
length of 16words)
1110B Outputs of type word, with consistency. Bits0-3 contain the length of the output data minus 1
(i.e. bits0-3 = 0000B corresponds to a length of 1word, while bits0-3 = 1111B corresponds to
a length of 16words)
1111B Inputs and outputs of type word, with consistency. Bits0-3 contain the length of the input or
output data minus 1 (i.e. bits0-3 = 0000B corresponds to a length of 1word, while bits0-3 =
1111B corresponds to a length of 16words)
If the first byte has the type "special identification format", then the second or third bytes have the following
meaning:
FC3101 and FC3102 73Version: 3.0
Appendix
Bits 6-7 Meaning
00B Type byte, with no consistency. Bits0-5 contain the length of the data minus 1 (i.e. bits0-5 =
000000B corresponds to a length of 1byte, while bits0-5 = 111111B corresponds to a length of
64bytes)
01B Type word, with no consistency. Bits0-5 contain the length of the data minus 1 (i.e. bits0-5 =
000000B corresponds to a length of 1word, while bits0-5 = 111111B corresponds to a length
of 64words)
10B Type byte, with consistency. Bits0-5 contain the length of the data minus 1 (i.e. bits0-5 =
000000B corresponds to a length of 1byte, while bits0-5 = 111111B corresponds to a length of
64bytes)
11B Type word, with consistency. Bits0-5 contain the length of the data minus 1 (i.e. bits0-5 =
000000B corresponds to a length of 1word, while bits0-5 = 111111B corresponds to a length
of 64words)
FC3101 and FC310274 Version: 3.0
Appendix
5.3 Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff
products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet
pages:
http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20
33415 Verl
Germany
Phone: +49(0)5246/963-0
Fax: +49(0)5246/963-198
e-mail: info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of
individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
Hotline: +49(0)5246/963-157
Fax: +49(0)5246/963-9157
e-mail: support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service
• repair service
• spare parts service
• hotline service
Hotline: +49(0)5246/963-460
Fax: +49(0)5246/963-479
e-mail: service@beckhoff.com
FC3101 and FC3102 75Version: 3.0
List of illustrations
List of illustrations
Fig. 1 Adding a DP slave ....................................................................................................................... 11
Fig. 2 I/O at task start and real-time resources not exceeded ............................................................... 12
Fig. 3 I/O at task start and real-time resources exceeded ..................................................................... 13
Fig. 4 I/O not at task start and real-time resources not exceeded ......................................................... 13
Fig. 5 I/O not at task start and real-time resources exceeded ............................................................... 13
Fig. 6 Allocation of DP slaves to several DP cycles .............................................................................. 14
Fig. 7 Multiple DP Cycles in one Task Cycle ......................................................................................... 14
Fig. 8 Multiple data samples within one task cycle ................................................................................ 15
Fig. 9 Sync/Freeze functionality............................................................................................................. 16
Fig. 10 Normal DP cycle .......................................................................................................................... 17
Fig. 11 First occurrence of a faulty DP cycle ........................................................................................... 17
Fig. 12 Following DP cycles..................................................................................................................... 17
Fig. 13 Normal DP cycle for Stay in Data Exch (for WD time) ................................................................. 18
Fig. 14 First faulty and subsequent DP cycles for Stay in Data Exch (for WD time) ............................... 18
Fig. 15 Diagnostic variables of the PROFIBUS master ........................................................................... 20
Fig. 16 Slave diagnostics - DP state ........................................................................................................ 23
Fig. 17 PC is Sync Master ....................................................................................................................... 26
Fig. 18 FC310x is Sync Master................................................................................................................ 27
Fig. 19 Counter and StartRedundancyMasterFlag .................................................................................. 39
Fig. 20 TwinCAT 2.8 - FC310 tab ............................................................................................................ 40
Fig. 21 TwinCAT 2.8 - Profibus tab.......................................................................................................... 42
Fig. 22 TwinCAT 2.8 - ADS tab ............................................................................................................... 44
Fig. 23 TwinCAT 2.8 - General Diag tab.................................................................................................. 44
Fig. 24 TwinCAT 2.8 - Box States tab ..................................................................................................... 45
Fig. 25 TwinCAT 2.8 - EquiDiag tab ........................................................................................................ 46
Fig. 26 TwinCAT 2.9 - FC310x tab .......................................................................................................... 48
Fig. 27 TwinCAT 2.9 - Bus Parameters dialog ........................................................................................ 49
Fig. 28 TwinCAT 2.9 - Fault Settings dialog ............................................................................................ 51
Fig. 29 TwinCAT 2.9 - MC tab ................................................................................................................. 52
Fig. 30 TwinCAT 2.9 - ADS tab ............................................................................................................... 53
Fig. 31 TwinCAT 2.9 - DP-Diag tab ......................................................................................................... 54
Fig. 32 TwinCAT 2.9 - Box States tab ..................................................................................................... 55
Fig. 33 TwinCAT 2.9 - MC-Diag tab......................................................................................................... 56
Fig. 34 Profibus tab.................................................................................................................................. 58
Fig. 35 Features tab................................................................................................................................. 59
Fig. 36 Beckhoff tab ................................................................................................................................. 60
Fig. 37 ProcessData tab .......................................................................................................................... 61
Fig. 38 PrmData (text) tab ....................................................................................................................... 62
Fig. 39 Diag tab ....................................................................................................................................... 62
Fig. 40 FC310x appended as slave ......................................................................................................... 64
Fig. 41 Append modules .......................................................................................................................... 65
Fig. 42 Features....................................................................................................................................... 65
Fig. 43 Enabling the ADS interface on the DP master............................................................................. 67
Fig. 44 ADS tab on the DP slave ............................................................................................................. 68
FC3101 and FC310276 Version: 3.0
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