D01 PROFIdrive-system-Descr e Aug07

8/11/2019 D01 PROFIdrive-system-Descr e Aug07

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Introduction

The field of industrial com-munications is continuing todevelop at an astonishing pacewith the result being constantchanges in the field of automation.Initially, automation focusedexclusively on production but now itencompasses service andmaintenance, warehousing,resource optimization and theprovision of data for MES and ERPsystems in addition. Fieldbustechnology, which has facilitatedmigration from centralized to

decentralized automation systemsand supports the use of distributedintelligence, has been, and indeedstill remains, the driving forcebehind this development. Ethernet-based communication systemsprovide a link between automationtechnology and informationtechnology, thereby enablingconsistent communication to beimplemented from the field levelright through to the corporatemanagement level.

Industrial communication systems,in particular, must be capable ofmeeting the requirements for anintegrated approach. Solutions canbe found in the form of PROFIBUSand PROFINET, both of whichprovide absolute consistency andare highly application-oriented.With its standard protocol,PROFIBUS communication takesin all system components frommachine, manufacturing andprocess automation right through tosafety-related communication and

drive/motion control applications,and provides the ideal basis forensuring horizontal automationsystem integration. PROFINETalso features a standard protocolwhich, in addition to horizontalcommunication, also supportsvertical communication from thefield level through to the corporatemanagement level.Both communication systemsfacilitate multi-sector, networked,integrated solutions that areoptimized for the automation tasks

concerned.

The main reason that PROFIBUSand PROFINET stand out fromother industrial communicationsystems is because they span suchan extraordinary breadth ofapplications. The reason is not onlydue to the fact that application-specific requirements have beenintegrated into application profilesbut also that these applicationprofiles have been combined as awhole to create a standardized andopen communication system. Thisprovides the basis for ensuring

extensive protection for theinvestments of both end users andmanufacturers.

The PROFIdrive application profileplays a key role in numerousapplications by providing afoundation for pending drivefeatures. It defines PROFIBUS andPROFINET device behaviors andhow drive data are accessed, forexample, in the case of electricaldrives from straightforwardfrequency converters throughhighly dynamic servo-controls.


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PROFIdrive technology and application, August 20072

Contents

Introduction..........................................................1

Contents ..............................................................2

Content ................................................................2

1. PROFIdrive profile.........................................3

1.1 Standardization.......................................31.2 Structure .................................................31.3 Safety......................................................4

2. PROFIdrive base model................................4

2.1 Devices...................................................42.2 Communication services ........................4

3. PROFIdrive parameter model .......................7

3.1

Profile parameters ..................................7

3.2 Manufacturer-specific parameters..........73.3 Parameter access...................................7

4. PROFIdrive application model ......................8

4.1 Application classes .................................8

5. Diagnosis ....................................................10

5.1 Warnings (warning mechanism)...........105.2 Fault buffer (Fault buffer mechanism) ..10

5.3 Standard fault classes(Fault classes mechanism).................. 10

6. Mapping to PROFIBUS and PROFINET.... 11

6.1 Mapping to PROFIBUS........................ 116.2 Mapping to PROFINET........................ 11

7. Conformity and certification........................ 12

7.1 Quality control through certification ..... 127.2 PROFIdrive certification....................... 12

8. Engineering ................................................ 13

8.1 PROFIdrive profile server .................... 138.2 Higher-level engineering with FDT ...... 13

9.

User benefits .............................................. 14

10.PI PROFIBUS & PROFINETInternational........................................ 15

10.1 Responsibilities of PI ........................... 1510.2

Technological development................. 15

10.3 Technical support ................................ 1510.4 Certification.......................................... 1510.5 Training ................................................ 15

Index ............................................................. 16

Content

This document describes theessential aspects of PROFIdrivetechnology and takes into accountthe level of technology at thebeginning of 2007. Its objective is

to provide a description of thePROFIBUS and PROFINETcommunication systems withoutentering into specific details.

This system description not onlyoffers sufficient information toreaders with only a basicknowledge who are interested inobtaining an overview but it alsointroduces experts to moreextensive specialized literature. Wewould like to point out that, in spiteof the care that has been taken in

the preparation of this document,only the official PI (PROFIBUS

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

Chapter 1provides an introduction

to how the PROFIdrive profilecame about and the principlesaccording to which it is structured.

Chapters 2 to 5deal with the coreaspects of PROFIdrive and anyrepetition of the subject matter thatappears in Chapter 1 is intentionalfor reasons of completeness

Chapter 6 deals with how thePROFIdrive profile is mapped ontoPROFIBUS and PROFINET.

Chapter 7 outlines the certifica-tion test procedure.

Chapter 8offers a brief outline ofengineering.

Chapter 9 describes some of theadvantages of using PROFIdrive.

Chapter 10 rounds out thedocument with details of how PIworks and how it is structuredinternally; it also contains an index.


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PROFIdrive technology and application, August 2007 3

1. PROFIdrive profile

PROFIdrive is the standard profilefor drive technology that relies onthe PROFIBUS and PROFINETcommunication systems. Using an

open application profile such asthis is a tried-and-tested way ofutilizing communication systems toconnect drives and controllers fromdifferent manufacturers in anintegrated and straightforward way.

The PROFIdrive profile wasdefined by numerous devicemanufacturers under the PI(PROFIBUS & PROFINETInternational) banner within thecontext of a working group whichremains responsible for continuingto extend it as necessary.

Work on the profile can be tracedback to 1991 when the focus wasexclusively on PROFIBUS. Theyear 2002 marked the launch of thePROFIBUS DPV1 extendedfunctions with the introduction ofversion 3.1 of the profile. In 2005,the PROFIdrive profile (version 4)was extended to cover PROFINETas the underlying communicationsystem. Version 4.1, which is theversion covered by this systemdescription, has been available

since 2006.

The PROFIdrive automationtechnology solution is essentiallybased on the concept of integratingmotion control functionality withPLC sequencing logic. Applicationprocesses are optimized bydistribution across the drives, e.g.,motor-current or speed control, andthe controller, e.g., position controlor path interpolation. Thecommunication system providesthe link between the distributedprocesses, making use ofdedicated services such as clocksynchronization and profile-basedslave-to-slave communication.

The profile has been standardizedby PI and IEC andcomprehensively documented inthe specification PI Order No.3.172.

1.1 Standardization

At the request of the ZVEI working

group PG Antriebsschnittstelle,(PG Drive Interface), a project wasinitiated within the IEC for the pur-

pose of specifying a standardizeddrive interface that could ultimatelybe incorporated into aninternational standard. Thisresulted in the three-part IECstandard 61800-7 Genericinterface and use of profiles forpower drive systems (Figure 1).The generic interface shown inFigure 1 (green) describes afunctional drive interface from the

perspective of the application aswell as how functions are mappedonto various drive profiles. Part 2(blue) specifies the application-related parts of the drive profilessuch as the PROFIdrive basemodel and PROFIdrive applicationclasses. Part 3 (orange) deals withmapping onto various standardizedcommunication systems, e.g., howPROFIdrive is mapped toPROFINET.

The fact that PROFIdrive has been

standardized in IEC 61800-7 and isrecommended by variousinternational institutions such asOMAC means that its future as aninternationally accepted standard isguaranteed.

1.2 Structure

The following sections of thespecification are particularlyimportant for understanding itsbasic structure (Figure 2):

1. Base model definition2. Parameter model definition3. Application model definition

4. Mapping to PROFIBUS DP5. Mapping to PROFINET IO

The main part of the profile (yellowarea of Figure 2) describes thosefunctions that are separate fromthe communication system andwhich ensures continuing operationwith PROFIBUS DP andPROFINET IO with no changes tothe application required. Thismeans that the drive technologycan be connected with scalablecommunication performance,ranging from a basic fieldbus to asystem-wide Ethernet network withthe entire system sharing the sameapplication view and without anychanges needing to be made to theautomation system.

Figure 1: Standardization of PROFIdrive in IEC61800-7

IEC 61800-7 Generic interface and use of profiles for power drive systems

IEC 61800-7-1 Interface definition

IEC 61800-7-2 Profile specification

IEC 61800-7-3 Mapping of profiles to network technologies

Annex A:

Mapping to

CiA 402

:

CIP

Annex C:

Mapping to

PROFIdrive

:

SERCOS

Annex A :

ProfileCiA 402

:

CIP

Annex C:

Profile

PROFIdrive

:

SERCOS

Annex A

Mapping to:

CANopen

EtherCAT

Powerlink

:

DeviceNet

ControlNet

EtherNet/IP

Annex C

Mapping to:

PROFIBUS

PROFINET

:

SERCOSI+II

SERCOSIII

EtherCAT

Annex B

Mapping to:

Annex D

Mapping to:

Annex B

Profile

Annex D

Profile

Annex B:

Mapping to

Anne x D:

Mapping to

IEC 61800-7 Generic interface and use of profiles for power drive systems

IEC 61800-7-1 Interface definition

IEC 61800-7-2 Profile specification

IEC 61800-7-3 Mapping of profiles to network technologies

Annex A:

Mapping to

CiA 402

:

CIP

Annex C:

Mapping to

PROFIdrive

:

SERCOS

Annex A :

ProfileCiA 402

:

CIP

Annex C:

Profile

PROFIdrive

:

SERCOS

Annex A

Mapping to:

CANopen

EtherCAT

Powerlink

:

DeviceNet

ControlNet

EtherNet/IP

Annex C

Mapping to:

PROFIBUS

PROFINET

:

SERCOSI+II

SERCOSIII

EtherCAT

Annex B

Mapping to:

Annex D

Mapping to:

Annex B

Profile

Annex D

Profile

Annex B:

Mapping to

Anne x D:

Mapping to

PROFIdrive

PROFIdrive Base Model

PROFIdrive Parameter Model

PROFIdrive Application Model

PROFIdrive




PROFIBUS

PROFIdrive

mapping on

PROFIBUS DP

PROFIBUS

PROFIdrive

mapping on

PROFIBUS DP

PROFINET

PROFIdrive

mapping on

PROFINET IO

PROFINET

PROFIdrive

mapping on

PROFINET IO

PROFIdrive




PROFIdrive




PROFIBUS

PROFIdrive

mapping on

PROFIBUS DP

PROFIBUS

PROFIdrive

mapping on

PROFIBUS DP

PROFINET

PROFIdrive

mapping on

PROFINET IO

PROFINET

PROFIdrive

mapping on

PROFINET IO

Figure 2: The PROFIdrive architecture


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1.3 Safety

The market is showing anIncreasing trend towards the use ofdrives that offer integrated safetytechnology.This offers an advantage in the

sense that there is no longer anyneed for external monitoringdevices, thus reducing wiring andsaving space. From this point ofview, PROFIdrive and PROFIsafeare the perfect complements to oneanother. The two profiles togethercreate a unified technology thatcan be used for controlling safetyfunctions and standard drivefunctions via the same bus.

2. PROFIdrivebase model

2.1 Devices

The PROFIdrive base modeldefines a motion controlautomation system (Figure 3) interms of a number of Devices andtheir relationships to one another(application interfaces, parameteraccess, etc.) regardless of thecommunication system used. A

distinction is made between thefollowing device classes (Figure 4):

Controller: automation systemcontrol unit or host

Peripheral device (P device):drive equipment

Supervisor: engineeringstation

2.2 Communication services

Cyclic data exchangeThe open-loop and closed-loopcontrol processes must beactivated cyclically while the motioncontrol system is in operation(Figure 5, center). From the pointof view of the communicationsystem, this means that newsetpoint values must be transferredcyclically from the controlapplication processes to the driveapplication process andconversely that the current actualvalues are sent in the oppositedirection.

This cyclic transfer is typically time-critical.

Acyclic data exchangeIn addition to the cyclic transfer ofsetpoint values and actual values,parameters can be transferred forthe purpose of controlling driveapplication processes. Access tothese parameters by the controller

is not time-critical and is per-formed acyclically (Figure 5, left).As well as the controllers beingable to access the parameters,they can also be accessed by asupervisor (commissioning tool,operator interface).

Figure 3: The general automation concept of PROFIdrive

Communication System

Controller

Application

Process

Controller Device

Supervisor Device

Interfaces,

defined by

Application Classes

Actual Values

Drive

Device

Drive

Application

Process

Drive

Application

Process

Drive

Device

ParameterAccess

SetpointValues

ActualValues

Parameter Access

Communication System

Controller

Application

Process

Controller Device

Supervisor Device

Interfaces,

defined by

Application Classes

Actual Values

Drive

Device

Drive

Application

Process

Drive

Application

Process

Drive

Device

ParameterAccess

ParameterAccess

SetpointValues

ActualValues

Parameter AccessParameter Access

Controller

Supervisor

P-Device P-DeviceP-Device - P-Device

Con

trolle

r-P

-Devic

eContro

ller-P-D

evice

Su

pervisor-P

-Device

Communication

Relationship

Communication

Partners

Controller

Sup

ervis

or-P-Devic

e

Contr

oll

er

-P-

Devic

e

Controller

Supervisor


Con

trolle

r-P

-Devic

eContro

ller-P-D

evice

Su

pervisor-P

-Device

Communication

Relationship

Communication

Partners

Controller

Sup

ervis

or-P-Devic

e

Contr

oll

er

-P-

Devic

e

Controller

Supervisor


Con

trolle

r-P

-Devic

eContro

ller-P-D

evice

Su

pervisor-P

-Device

Communication

Relationship

Communication

Partners

Communication

Relationship

Communication

Partners

Controller

Sup

ervis

or-P-Devic

e

Contr

oll

er

-P-

Devic

e

Figure 4: Device classes and communication relationships


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Alarm mechanismsThe alarm mechanism (Figure 5,right) is event-controlled and usedto signal the setting and clearing ofdrive/application process fault

conditions.

Clock-synchronous operationAny modern drive profile must beable to support the clock-synchronous operation ofdistributed processes in a motioncontrol application, because this isthe only way of accuratelycoordinating the movements ofseveral drives (such as within thecontext of motion-control-systempath traversal or of synchronizingmovements associated withelectronic gears). This means thata drive profile must fulfill two basicrequirements:

It must be able to synchronizeseveral application processesfrom the same master clock.

It must ensure that cyclic dataexchange between processesis completed reliably by a setpoint in time so that allrelevant input and output datacan be made available at thecorrect time.

To ensure process synchroni-zation, PROFIdrive utilizes slaveclocks that must be located inevery device and are preciselysynchronized with the systems

master clock (Figure 6). For thepurpose of synchronizing the slaveclocks, PROFIdrive utilizes therelevant services of the com-munication system being used. ForPROFIBUS, these services arepart of the DP-V2 extensions

and in the case of PROFINET IO,are part of the isochronous real-time functionality.

As far as the drive technology is

concerned, clock-synchronousoperation provides the basis fordrive synchronization. Within thiscontext, it is not just messageinterchange that is performed onthe bus system using anequidistant time frame

Figure 5: Data model and data flow in a P device

Process

Process

Level

(Drive Level)

Pxx Pxx Pxx Pxx Pxx Pxx Parameter

Level

readwrite readwrite

Setpoint

values

Actual

values

Process

data

Event

Frame

Parameter ManagerPROFIdrive

Cyclic Data Mapping

PROFIdrive (Telegrams)

Fault Codes

PROFIdrive

Services

Profile

Acyclic

data channelCyclyc

data channel

Alarm

channelServices

Communication

Bus

Level

Clock

synchronization

M

Drive / Axis

Process

Process

Level

(Drive Level)

PxxPxx PxxPxx PxxPxx PxxPxx PxxPxx PxxPxx Parameter

Level

readwrite readwrite

Setpoint

values

Actual

values

Process

data

Event

Frame

Parameter ManagerPROFIdrive

Cyclic Data Mapping

PROFIdrive (Telegrams)

Fault Codes

PROFIdrive

Services

Profile

Acyclic

data channelCyclyc

data channel

Alarm

channelServices

Communication

Bus

Level

Clock

synchronization

MM

Drive / Axis

Slave

clock

Slave

clock

Master clock

Drive/Axis

Synchronization

(Trigger)

... Task nTask 1 ... Task nTask 1

Synchronization

(Trigger)

Controller

Device = Clock Master

. . .

e.g. Position Control e.g. Speed Control e.g. Interpolator

Slave

clock

Slave

clock

Master clock

Drive/Axis

Synchronization

(Trigger)

... Task nTask 1 ... Task nTask 1

Synchronization

(Trigger)

Controller

Device = Clock Master

. . .

e.g. Position Control e.g. Speed Control e.g. Interpolator

Figure 6: Process synchronization in clock-synchronous operation


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the internal control algorithms suchas speed and current control insidethe drive/controller are also time-synchronized in the overallautomation system (Figure 6). Fortypical drive applications, the cycletime, i.e., clock-signal, repeatability

must have a jitter of less than 1 s.If this value is exceeded, it will beinterpreted as a clock failure andprocessing will be inhibited.

Slave-to-slavecommunicationSlave-to-slave communicationrefers to direct communicationbetween devices without requiringdata to pass through themaster/controller. This means, forexample, that drives can acquireactual values from other drives or

peripheral devices and use theseas setpoints. Consequently, morepossibilities are now opening up interms of how the technology canbe used, particularly as far asdecentralized applications withinthe field of drive technology areconcerned.

Slave-to-slave communicationenables signals to be transferredfrom one drive to another withoutany additional delays from thecontroller application.

A good example of this is thetransfer of speed setpoint valuesfor the purpose of creating asetpoint cascade for paper, foil andwire-drawing machines as well asfiber-stretching systems.

Slave-to-slave communication isavailable with both PROFIBUS andPROFINET.

Modes and telegramsPROFIdrive defines a generalbasic state machine for all drives.This is used to put the drive into aparticular operating state or to shutit down in a controlled way.Separate, supplementary state

machines are defined for thespeed control and positioningdrive modes.

In cyclic data exchange messages,the control and status words formthe interface between the controllerand the drive.

Individual bits are assigned on amode-specific basis. Process data(PZD) are transferred via the cyclicinterface. Signal numbers aredefined for the most frequentlyused process data and these

facilitate writing to the process datainterface and its configuration.Standard telegrams have beendefined for the most frequentlyused applications on the basis ofthese standard signals.

The same standard telegrams areused in both PROFIBUS andPROFINET.

State machineA state machine is a detailedmodel of system behavior,consisting of states, statetransitions and actions. It defineswhich specific state should beentered following a particular

command as well as how andunder what conditions the transitionshould be made from one state toanother. The sequence and timerestrictions that apply aredetermined and controlled by asequence control system.

Figure 7 shows the general statemachine for a PROFIdrive drive,which is applicable to all modes,including speed and positioningmodes.

The blue blocks represent system

states S1 to S5 and the arrowsindicate the transitions that arepossible between them. Thepriorities of the various transitionsare indicated by the number of reddots.

Figure 7: General state machine of a PROFIdrive drive

S1 Switching On inhibited

S2 Ready for Switching On

S3 Switched On

S4 Operation

S5 Switching Off

Coast Stop

or Quick Stop

Coast Stop

Off

and No CoastStop

and No Quick Stop

Coast Stop

or Quick Stop

On Off

Enable

Operation

Disable

Operation On Off Quick Stop

rampstop

quick stop

Quick StopStandstill detected

or Disabled Operation

Standstill detectedor Disabled Operation

CoastStop

Increasing priority

S1 Switching On inhibited

S2 Ready for Switching On

S3 Switched On

S4 Operation

S5 Switching Off

Coast Stop

or Quick Stop

Coast Stop

Off

and No CoastStop

and No Quick Stop

Coast Stop

or Quick Stop

On Off

Enable

Operation

Disable

Operation On Off Quick Stop

rampstop

quick stop

Quick StopStandstill detected

or Disabled Operation

Standstill detectedor Disabled Operation

CoastStop

Increasing priority


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3. PROFIdriveparameter model

3.1 Profile parameters

PROFIdrive defines a devicemodel, which applies, at leastpartially, to every drive system. Thedevice consists of numerousfunction modules, which worktogether internally to provide thedrive system with its intelligence.Objects are assigned to thesefunction modules and constitute theinterface with the automationprocess. These objects and theirfunctions are described in theprofile .

Object parameters are specified in

the profile. These include, forexample, drive identification, faultbuffer, drive control, deviceidentification, and process dataconfiguration as well as thecomplete list of parameters. Theseparameters are the same for alldrives.

3.2 Manufacturer-specificparameters

All the other parameters, which inthe case of complex devices canadd up to well over 1000, aremanufacturer-specific. Theseadditional parameters provide drivemanufacturers with maximumflexibility for implementing suchfunctions such as manufacturer-specific control and monitoring.Although the parametersassociated with these functions arenot specified by the profile, it doesdefine the application process

interface. As a result, theapplication process remainsidentical even if a user switchesdrive manufacturers. Because theoperating and parameterizationtools are always manufacturer-specific, they can read and displayall the parameter information eitherdirectly from the drive or by meansof a device description file.PROFIdrive is particularly suitablefor modeling multi-axis drivecontrollers.

3.3 Parameter access

Parameters are always accessedacyclically, i.e., separate from andin between time-critical cycles ofprocess communication.

A request/response data structure,which is completely separate fromthe transport channel, is defined forthe purpose of transferring data.This enables 256 axes per drive tobe accessed, whereby each axiscan have up to 65,535 parametersand each of these can in turn haveup to 65,535 array elements. This

means that not only can theparameter values themselves beaccessed, but also the relatedparameter descriptions andassociated text elements.


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4. PROFIdriveapplication model

As shown in Figure 3, the modelbasically consists of the following:

Application processes in thedrive, typically motor currentand speed control (see bottomof figure)

Application processes in thecontroller, including positioncontrol and path interpolation(see top of figure)

A communication system (seecenter of figure) that providesthe necessary data-exchangeand application-process-synchronization services

4.1 Application classes

The application processes can bedistributed across various devicesin different locations.The way drives are integrated intoautomation solutions is heavilydependent on the nature of thedrive task concerned. In theinterests of simplicity, PROFIdrivedefines 6 application classes thatcover the entire range of potentialdrive applications.

Standard drive (Class 1)In the most straightforwardscenario, the drive is controlled viaa main setpoint, e.g., speed, overPROFIBUS or PROFINET (Figure8). Speed control is handledentirely within the drive controller.This application scenario isprimarily found within the context ofconventional drive technology, e.g.,materials handling, frequencyconverters, etc.

Standard drive with tech-nological function (Class 2)The standard drive withtechnological function applicationclass offers a high degree offlexibility for implementingautomation applications. With thisclass, the entire automationprocess is broken down intoseveral smaller subprocesses anddistributed across the drives.Consequently, the automationfunctions are no longer simplylocated in the central automationunit but are also distributed acrossthe drive controllers.

For this class, PROFIBUS orPROFINET serves as a high-leveltechnology interface. It is, ofcourse, a prerequisite for this kindof distributed control thatcommunication is possible in alldirections, i.e., that node-nodecommunication is supportedbetween the individual drivecontroller technological functions.Specific examples of applicationsinclude setpoint cascading, windersand speed synchronization of

continuous processes involved inthe throughput of a web press.

Positioning drive (Class 3)In this case, the drive is equippedwith positioning control in additionto drive control. This means thatthe drive is free to function as anautonomous single-axis positioningdrive while the controller takes careof all the higher-level technologicalprocesses (Figure 9). Thepositioning tasks are passed to thedrive controller and started overPROFIBUS or PROFINET.Positioning drives cover anextremely broad spectrum ofapplications, e.g., twisting bottletops on and off in the context of abottle filling operation or thepositioning of knives on a foilcutting machine.

Figure 8: Application class 1


Control (PLC/NC)

Technology

Drive

Speed setpoint Speed actual value

Drive

Open Loop Speed Ctrl,

or

Closed Loop Speed Ctrl.

MEncoder

(optional)

Drive

M M


or



or


Encoder

(optional)

Encoder

(optional)

Control (PLC/NC)

Technology

Drive

Speed setpoint Speed actual value

Drive


or


MEncoder

(optional)

Drive

M M


or



or


Encoder

(optional)

Encoder

(optional)

Control (PLC/NC)

Technology

Drive Drive

Positioning

Status Word

M MEncoderEncoder

Interpolation

+ Position Control

+ Speed Control

Interpolation

+ Position Control

+ Speed Control

Positioning

Control Word

Control (PLC/NC)

Technology

Drive Drive

Positioning

Status Word

MM MMEncoderEncoder

Interpolation

+ Position Control

+ Speed Control

Interpolation

+ Position Control

+ Speed Control

Positioning

Control Word


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Central motion control(Class 4)This application class defines aspeed setpoint/actual positioninterface for applications for whichspeed control needs to be handled

by the drive and position control bythe controller, such as in the caseof robotics and machine-toolapplications that involvecoordinated motion sequencesacross several drives (Figure 10).The motion is primarily controlledby means of computerizednumerical control (CNC). The busis used to close the position controlloop. Clock synchronization assupported by PROFIBUS DP andPROFINET IO is required for thepurpose of synchronizing the

position-control clock pulses on thehigher-level controller and the clockpulses in the drive controllers.

Class 5 is identical except for thefact that a position setpointinterface takes the place of thespeed setpoint interface.

Decentralized automationwith clocked processes andelectronic shafts (Class 6)In order to realize applications suchas electrical gears, cam discs,

angular synchronism, and flyingsaws both slave-to-slavecommunication and clock-syn-chronized communication areneeded.

Encoder interfaceModern digital servo drives arecapable of analyzing the motorencoder feedback and, whereapplicable, a second directmeasuring system without anyexternal assistance. Consequently,

the interface is now located in thedrive rather than on the controller.This means that the encoderinformation must be transferred tothe controller via the bus. For thispurpose, an encoder interface isdefined in the PROFIdrivestandard, which enables up tothree encoder values to betransferred via the process data.

Dynamic servo controlThe profile also defines aninnovative control concept calleddynamic servo control whichoffers an easy way of making thestatic position control loop of appli-

cation class 4 considerably moredynamic. This is achieved byimplementing an additionalmeasure that minimizes the delaysnormally associated with a speedsetpoint interface. Theimplementation includes (a) anadditional feedback network(shown in blue in Figure 11)

activated in the drive and b) twonew correction setpoint values inthe setpoint telegram.

The system deviation, calculated inthe master controller, is transmittedto the drive along with the speedsetpoint. The additional network in

the drive uses the drive data formatto describe the position and thismeans that the position descriptionis achieved completely indepen-dent of the master controller.

The system has three return lines(1 - 3 in Figure 11) for the currentposition value. Line 2 fullycompensates the position value ofline 1 and line 3 closes the loopagain, although with a significantlyshorter time delay which, in turn,increases controller gain. Returnline 4, which is for the actual speedvalue, always uses the motorencoder as the signal source.

Control (PLC/NC)

Technology

Interpolation, Position Control

Drive Drive Drive

Closed Loop

Speed Control*

Speed Setpoint + ... Actual Position + ...

Clock

M M MEncoderEncoder Encoder

*) Closed Loop Speed Control operates clock synchronous to PLC application

Closed Loop

Speed Control*Closed Loop

Speed Control*

Control (PLC/NC)

Technology

Interpolation, Position Control

DriveDrive DriveDrive DriveDrive

Closed Loop

Speed Control*

Speed Setpoint + ... Actual Position + ...

Clock

MM MM MMEncoderEncoder Encoder

*) Closed Loop Speed Control operates clock synchronous to PLC application

Closed Loop

Speed Control*Closed Loop

Speed Control*

xcmd

xact,NC

Xact,NC

xact, Drive

Tpc Tpc Tsc

Positioncontrol

Transmissiondelay

Interpolation(TPC)

Zero Offset and

Compensation

xact

xerr

Master Controller (NC) Drive Controller

Speed filter

nDrive

Path

Interpolation

ncmdSpeedcontrol

Speedcalculation

ncmd: : Speed command Tsc : Speed controller sampling time

xcmd : Position command Tpc : Position controller sampling time (= TMAPC)

xerr : Position error command kpc : Position controller gainxact : Actual position

1 2 3 4

xcmd

xact,NC

Xact,NC

xact, Drive

Tpc Tpc Tsc

Positioncontrol

Transmissiondelay

Interpolation(TPC)

Zero Offset and

Compensation

xact

xerr

Master Controller (NC) Drive Controller

Speed filter

nDrive

Path

Interpolation

ncmdSpeedcontrol

Speedcalculation

ncmd: : Speed command Tsc : Speed controller sampling time

xcmd : Position command Tpc : Position controller sampling time (= TMAPC)

xerr : Position error command kpc : Position controller gainxact : Actual position

1 2 3 4


Figure 11: Dynamic Servo Control (DSC)


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5. Diagnosis

Figure 12 shows the basicstructure of the PROFIdrivediagnostic functions, which arebroken down into warning-related

and fault-related categories. Theadvantage of this two-stageconcept is that it enablesimpending faults to be addressedby appropriate means in a timelymanner.

5.1 Warnings(warning mechanism)

Warnings are a form of messagethat is acknowledged automaticallyas soon as the cause has been

addressed. They provide advancewarning so that appropriatemeasures can be taken in time toprevent a fault condition.

Parameters 953 - 960 (warningwords) are reserved for thewarning mechanism. Each warningthat occurs within a drive/drive axisis mapped onto independent bitswithin the warning words.This bit mapping process meansthat several simultaneouslyoccurring warnings can be mapped

at once.

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

5.2 Fault buffer(Fault buffer mechanism)

A fault condition in the drive alwaystriggers a device-specific response,i.e., the drive will generally be shutdown. At the same time, one or

more fault messages describingthe fault condition will be written tothe fault buffer.

A complete fault entry will consistof the fault number (PNU947), theuser-defined fault code (PNU945),the fault time (PNU948), and a faultvalue (PNU949) that provides moredetailed information about thecause of the fault.Whenever the cause of a fault isremoved, the user must alwaysacknowledge the fault by means of

a reset command.

Once acknowledged, the fault will

not actually be deleted but willremain in the fault buffer. It will bepushed down by one position tofacilitate future traceability.

5.3 Standard fault classes(Fault classesmechanism)

The standard fault classes arecollections of manufacturer-specificfault conditions organized intospecific PROFIdrive-definedgroups and which are used forpermanently storing approximately20 standard fault causes, e.g.,prime power, overtemperature, etc.By mapping the individual warningand fault messages onto thesestandard fault classes, a pre-

constructed and manufacturer-independent diagnostic display canbe achieved.

Figure 12 : PROFIdrive diagnostic functions

Warning mechanism

Fault buffer mechanism

Fault classes mechanism

Provides specificactual state

Records statetransitions

PROFIdrive fault

classes

Drive

Shows actual state

Shows history of state

transitions and doesfault acknowledge

Standard diagnosismechanism

Standard alarmmechanism

OptionalDrive exception state

Transitions

Mapping of

warnings ontofault classes

Mapping of actual

fault situation ontofault classes

Warning mechanism

Fault buffer mechanism

Fault classes mechanism

Provides specificactual state

Records statetransitions

PROFIdrive fault

classes

Drive

Shows actual state

Shows history of state

transitions and doesfault acknowledge

Standard diagnosismechanism

Standard alarmmechanism

OptionalDrive exception state

Transitions

Mapping of

warnings ontofault classes

Mapping of actual

fault situation ontofault classes


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6. Mapping toPROFIBUS andPROFINET

6.1 Mapping to PROFIBUS

If PROFIdrive is being used inconjunction with PROFIBUS, thenthe PROFIdrive base model mustbe mapped to this communicationsystem in accordance with Figure13. This involves using com-munication protocol versionPROFIBUS DPV2 with its cyclicand acyclic data transfer, clocksynchronization and slave-to-slavecommunication functions.

The PROFIdrive base modeldevices are mapped as follows:

PROFIdrive controlleras PROFIBUS DP masterclass 1

PROFIdrive peripheral devices(PD) as PROFIBUS DP slavesand

PROFIdrive supervisoras PROFIBUS DP masterclass 2.

6.2 Mapping to PROFINET

Version 4 of the PROFIdrive profilesupports its use with thePROFINET IO communicationsystem, an expanded version of

Ethernet with communicationservices to support rapid andisochronous data exchange.

If PROFIdrive is being used inconjunction with PROFINET, thenthe PROFIdrive base model mustbe mapped to PROFINET IO inaccordance with Figure 14. EitherPROFINET with RT or IRT can beused depending on the particularapplication.

The PROFIdrive base modeldevices are mapped as follows:

PROFIdrive controller asPROFINET IO controller

PROFIdrive peripheral devices(PD) as PROFINET IOdevices and

PROFIdrive supervisor asPROFINET IO supervisor

The control application processesrun on the PROFNET IO controller.A drive with one or more driveapplication processes (drive axes)is referred to as a drive unit and ismapped to PROFINET IO as an IO

device. A PROFINET IOapplication relationship (AR) isestablished between the IOcontroller and the drive unit. This isused to implement cyclic dataexchange, parameter access andalarm handling.

Figure 13: Mapping the base model to PROFIBUS DP Figure 14: Mapping the base model to PROFINET IO

DP-Master Class 1

(Controller)

DP-Master Class 2

(Supervisor)

DP-Slave

(P-Device)

DP-Slave

(P-Device)

C2

DxB Communication

C0+C1 C0

+C1

C2

PROFIBUS DP

Communication

PROFIBUS DP

Device

Communication

Channel

Data Exchange

Broadcast

C0, C1, C2

DxBDP-Master Class 1

(Controller)

DP-Master Class 1

(Controller)

DP-Master Class 2

(Supervisor)

DP-Master Class 2

(Supervisor)

DP-Slave

(P-Device)

DP-Slave

(P-Device)

DP-Slave

(P-Device)

DP-Slave

(P-Device)

C2

DxB Communication

C0+C1 C0

+C1

C2

PROFIBUS DP

Communication

PROFIBUS DP

Device

Communication

Channel

Data Exchange

Broadcast

C0, C1, C2

DxB

PROFIBUS DP

Communication

PROFIBUS DP

Device

Communication

Channel

Data Exchange

Broadcast

C0, C1, C2

DxBIO Controller

IO Supervisor

IO Device

(Drive)

IO Device

(Drive)

Sup

ervi

sorAR

MCR Communication

IOAR

IOAR

Su

pervisorAR

PROFINET IORelationship

PROFINET

Device

Application

Relationship

Multicast

CommunicationRelationship

AR

MCR

IO Controller

IO Supervisor

IO Device

(Drive)

IO Device

(Drive)

IO Device

(Drive)

Sup

ervi

sorAR

MCR Communication

IOAR

IOAR

Su

pervisorAR


PROFINET

Device

Application

Relationship

Multicast


AR

MCR


PROFINET

Device

Application

Relationship

Multicast


AR

MCR


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7. Conformity andcertification

For products of different types andfrom different manufacturers to beable to perform various tasks in theautomation process correctly, theymust exchange information overthe bus without errors. Aprerequisite for this is a standards-compliant implementation of thecommunication protocols andapplication profiles by the devicemanufacturers.

Certificates are issued to prove thatdevices (which vary considerablyfrom manufacturer to manufacturerin terms of their functionality)conform to the communication and

profile specifications. Certificatesare issued by the PI certificationbody on the basis of a test reportfrom an accredited PITL. Thisprovides the user with addedpeace of mind with respect to theinteroperability and interchange-ability of products.

7.1 Quality control throughcertification

To ensure that products are

implemented in accordance withthe relevant standards, PI hasestablished a quality assurancesystem whereby certificates areissued for products that meet thenecessary requirements asindicated in a test report from aPITL.

The aim of certification is to provideusers with an assurance thatdevices from differentmanufacturers are capable of fault-free operation when used together.

For this purpose, the devices aretested by independent testlaboratories under lifelikeconditions in accordance with theappropriate test level. This makes itpossible to identify anymisinterpretation of the standardsby developers at an early stage sothat manufacturers can take thenecessary remedial action beforedevices are introduced into thefield. The test also examines thedevices compatibility with othercertified devices. Upon successfulcompletion of the test and receiptof a positive test report, themanufacturer can apply for adevice certificate.

The certification procedure (Figure15) is based on standard EN45000. In accordance with therequirements of this standard, thetest laboratories accredited by PIare not aligned with any specificmanufacturer. Only these test

laboratories are authorized to carryout the device tests that form thebasis for certification.

The test procedures and sequencefor certification are described in theguidelines.

7.2 PROFIdrive certification

Figure 16 shows the basicstructure of the certification systemused for PROFIdrive products. The

products (test samples) undergoautomated testing based on scriptdescriptions. All the results fromthe individual test steps arerecorded automatically in theproduct test log. Together, thequality system and accreditationprocedures ensure a consistentlevel of test quality at the PITLs.

Test campaign intest laboratory

No

Yes

Certification

through PI

OK ?

Device

under Test

Test campaign intest laboratory

No

Yes

Certification

through PI

OK ?

Device

under Test

Script

Interpreter

Drive (Test sample)Additional Drives (optional)

Interpolator Data

Communication Services

Standard PC with W2000/XP

Graphical

User Interface

PROFIBUS / PROFINET

RTX-Realtime Driver

with Test-Interpolatorand closed loop control

Active Master/Controller

Board

Script File for

Test Automation

Protocol with

Test Results

Script

Interpreter

Drive (Test sample)Additional Drives (optional)

Interpolator Data

Communication Services

Standard PC with W2000/XP

Graphical

User Interface

PROFIBUS / PROFINET

RTX-Realtime Driver

with Test-Interpolatorand closed loop control

Active Master/Controller

Board

Script File for

Test Automation

Protocol with

Test Results

Figure 16: PROFIdrive Conformity test

Figure 15: The device certificationprocess


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8. Engineering

8.1 PROFIdrive profile server

As part of another joint project, a

common driver has beendeveloped for integrating driveequipment into engineeringsystems. This driver, which iscalled the PROFIdrive profileserver, is based on the OPCstandard and provides users withuniversal and convenient access tothe drives using familiar plug & playmethods like those found in theWindows environment.

PROFIBUS DPV1 provides theunderlying technololgy for this. Thedrives are accessed via a PC

running Windows which isconnected as a PROFIBUS class 2

master (operator control andmonitoring device). The advantageof this kind of connection is thatservice personnel cancommunicate directly with thedrives without having to access orinterfere with the central controller.

The prerequisite for this is a PCwith a PROFIBUS card (availableas standard products from severalvendors) and an OPC-compatiblebus server.

The PROFldrive profile serverworks above this bus server. Ittranslates the DPV1 services intouser-friendly device and parameternames. Any products that supportOPC clients can be employed asapplication programs.These can be manufacturer-

specific engineering systems fordrive parameterization, diagnosis

and programming, as well ascommercially available visualiza-tion systems or even web serversthat permit worldwide access to thePROFIBUS drive.

8.2 Higher-level engineeringwith FDT

In addition to the actual process ofdata exchange on thePROFIBUS/PROFINET systems,interfaces with manufacturer-specific application software arealso undergoing an increasing levelof standardization.

This applies in the case of theFDT/DTM interface, for example. Inthe future, this interface will enable

software modules (known asDTMs) from differentmanufacturers to be integrated intohigher-level application softwareand enable the acyclic PROFIdriveparameter channel to be utilized.This offers users significantadvantages in terms of com-missioning and operating machinesand systems:

Uniform configuration and datamanagement

Optimized use of the existing

interfaces (with the fieldbus,database, printer)

Similar function calls, e.g., forsending/receiving parameters,storing data

Only one softwareenvironment required forconfiguration, commissioning,diagnosis and service

Application

e.g. Webserver

PROFIdrive

profile server

Bus server

PROFIBUS

OPC-Interface

OPC-Interface

PC

PROFIdrive

conform

device

PROFIBUS

Board

Application

e.g. Webserver

PROFIdrive

profile server

Bus server

PROFIBUS

OPC-Interface

OPC-Interface

PC

PROFIdrive

conform

device

PROFIBUS

Board

Figure 17: Profile server


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9. User benefits

More than 20 million PROFIBUSdevices have now been installed.The top priority for developmenthas always been and will continue

to be that of ensuring that thesystem remains fully compatiblewith the devices that are already onthe market.

Thanks to the identical applicationview and common base andapplication models, it is evenpossible to switch over fromPROFIBUS to PROFINET withoutany major difficulties.

The following statements sum upthe user benefits perfectly:Integration instead of interfaces

and One technology instead ofmultiple technologies.

It is on this basis that PROFIdriveis able to achieve significant costreductions over the course of amachine or systems life cycle withrespect to: planning, installation,operation and maintenance as wellas expansions or upgrades. ThePROFIdrive integrated approach isachieved through the use of

standard communication protocolssuch as PROFIBUS DP orPROFINET IO which are bothequally capable of meeting thediverse requirements of factory andprocess automation, motion controland safety applications.

The PROFIdrive application profileis ideal for meeting the specialrequirements of drive technology inconjunction with the PROFIBUSand PROFINET communicationsystems and offers unbeatablescalability in terms of commu-nication performance. It createsmultiple benefits not only for thedevice and system manufacturersbut also for integrators and endusers.

There are considerable cost

advantages to be achieved byusing a single, integratedcommunication solution for thedrives, the controller, the I/O andoperator control and monitoring.

The integrated approach pays offnot only with respect to planningand installation but also in terms oftraining, documentation andmaintenance because there is onlya single technology involved.

Drive tasks of every conceivabletype, each having its own specificrequirements, can be addressed ina standard yet flexible way thanksto the integrated technology, theintegrated application programsand the scalable communication

performance.

The need for user-friendliness isfully met by ensuring theinteroperability and interchange-ability of devices from differentmanufacturers and the availabilityof program libraries from well-known controller manufacturers.The safe operation of the devicesis guaranteed thanks toindependent certification by ac-credited test laboratories.

Because PROFIdrive is

standardized in IEC61800-7,international acceptance isguaranteed and investments willenjoy extensive long-termprotection. This protection is furtherreinforced by the fact thatPROFIBUS and PROFINET arethe leading global basetechnologies. The fact that theprofile is also recommended byuser organizations such as OMACprovides additional investmentprotection.


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10. PI PROFIBUS &PROFINETInternational

As far as maintenance, ongoingdevelopment, and market

penetration are concerned, opentechnologies need a company-independent institution that canserve as a working entity. For thePROFIBUS and PROFINETtechnologies, this role is filled bythe PROFIBUS Nutzerorganisatione.V. (PNO), founded in 1989 as anon-profit interest group formanufacturers, users, andinstitutions. The PNO is a memberof PI (PROFIBUS & PROFINETInternational), an umbrella groupwhich was founded in 1995. PI now

has 25 regional user organizations(RPAs: regional PI associations)totaling approximately 1,400members, PI is represented onevery continent and is the worldslargest interest group for theindustrial communications field.

10.1 Responsibilities of PI

The key tasks performed by PI are:

Maintenance and ongoingdevelopment of PROFIBUS

and PROFINET. Promoting the worldwide

adopition of PROFIBUS andPROFINET.

Protection of investment forusers and manufacturersthrough influencingstandardization efforts.

Representation of the interestsof members to standardsbodies and unions.

Providing companies withworldwide technical supportthrough PI CompetenceCenters (PICC).

Quality control through asystem for product certificationthat is based on PI-approvedconformity tests used at PI testlaboratories (PITL).

Establishment of a worldwidetraining standard through PITraining Centers (PITC).

10.2 Technologicaldevelopment

PI has assigned the tasks oftechnological development to PNOGermany. The Advisory Board of

PNO Germany oversees thedevelopment activities. Techno-logical development takes place inthe context of more than 50working groups with input frommore than 500 experts from a widearray of member companies.

10.3 Technical support

PI supports more than 35accredited PICCs worldwide.

These facilities provide users andmanufacturers with a wide varietyof advice and support. Asinstitutions of PI, they areindependent service providers andadhere to the mutually agreedupon regulations. The listed areasof expertise of PICCs are regularlychecked as part of periodicaccreditation and ongoing quality-assurance processes. An up-to-date list of addresses can be foundon the PI Web site.

10.4 Certification

PI supports 8 accredited PITLsworldwide The PITLs performcertification testing of products withPROFIBUS and/or PROFINET

interfaces. As institutions of PI,they are independent serviceproviders and adhere to themutually agreed upon regulations.The test procedures followed bythe PITLs are regularly audited inaccordance with a strictaccreditation process to ensurethat they meet the necessaryquality requirements. An up-to-datelist of addresses can be found onthe PI Web site.

10.5 Training

The PI Training Centers have beenset up with the specific aim ofestablishing a global trainingstandard for engineers andinstallation technicians. The factthat the Training Centers andassociated experts are required tobe officially accredited means thatquality is assured, not only withrespect to the PROFIBUS andPROFINET training offered butalso of the associated engineeringand installation services. An up-to-

date list of addresses can be foundon the PI Web site.

RegionalPI

Associations

PI

CompetenceCenters

PITest

Laboratories

PITraining

Centers

PI (PROFIBUS & PROFINET International)

RegionalPI

Associations

PI

CompetenceCenters

PITest

Laboratories

PITraining

Centers

PI (PROFIBUS & PROFINET International)

Figure 18: Organizational structure of PI


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Index

A

Acyclic data exchange.....................................4Alarm mechanisms..........................................5Application classes..........................................8Application model ............................................8

C

Central motion control .....................................9Certification....................................................12Clock-synchronous operation..........................5Conformity test ..............................................12Control algorithms ...........................................6Cyclic data exchange ......................................4

D

Decentralized automation................................9Device classes.................................................4Diagnosis.......................................................10Drive synchronization ......................................5DTM...............................................................13Dynamic servo control .....................................9

E

Encoder interface ............................................9

F

Fault buffer ....................................................10Fault classes..................................................10FDT................................................................13

I

IEC...................................................................3IEC 61800-7 ....................................................3Interoperability ...............................................12

J

Jitter .................................................................6

M

Manufacturer-specific parameters...................7Mapping onto PROFIBUS .............................12

Mapping to PROFIBUS................................. 11Mapping to PROFINET................................. 11

Modes ............................................................. 6

O

OMAC ....................................................... 3, 14OPC standard ............................................... 13

P

Parameter access........................................... 7PI ..................................................................15PICC..............................................................15PITC.............................................................. 15PITL...............................................................15

PNO .............................................................. 15Positioning drive.............................................. 8Process synchronization................................. 5PROFIBUS DP................................................ 3PROFIdrive base model.................................. 4PROFIdrive profile server ............................. 13Profile.............................................................. 3Profile parameters........................................... 7PROFIsafe ...................................................... 4

R

RPA............................................................... 15

S

Safety technology ........................................... 4Scalable communication performance............ 3Slave-to-slave communication........................ 6Standard drive................................................. 8Standard drive with technological function ..... 8Standard telegrams......................................... 6Standardization............................................... 3State machine................................................. 6

T

Telegrams....................................................... 6

W

Warning.........................................................10


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PROFIdrive technology and applicationSystem descriptionAugust 2007

Order number 4.322

PublisherPROFIBUS Nutzerorganisation e.V.Haid-und-Neu-Strae 776131 KarlsruheGermanyPhone : +49 721 96 58 590Fax : +49 721 96 58 [email protected]

www.profibus.com

Exclusion of liabilityAlthough the PROFIBUS Nutzerorganisation has taken the utmost care in compiling the information contained inthis brochure, it cannot guarantee that the content is completely error-free and the PROFIBUS Nutzerorganisationcan assume no liability, regardless of the legal basis for any potential claims. The information in this brochure isreviewed on a regular basis. Any necessary corrections will be made in subsequent editions. We would begrateful for any suggestions as to how the content could be improved.

Any designations that appear in this brochure could potentially constitute trademarks. Any use of such trademarksby third parties for their own ends risks infringing the rights of the proprietors concerned.

This brochure is not intended as a substitute for the applicable IEC standard or for the PI specifications andprofiles; in cases of doubt, reference must always be made to these official sources of information.

Copyright by PROFIBUS Nutzerorganisation e.V. 2007. All rights reserved.


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D01 PROFIdrive-system-Descr e Aug07

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