Introduction

Enables interfacing the motion controller, typically to a PLC, into a Profibus network.

It is possible to communicate with Robox controllers in Profibus DP-slave mode using the ROBOX PROF.186 communication board (AS5034.001) or controllers with an integrated port. The Robox control appears as a SLAVE type peripheral within the PROFIBUS protocol.

Data is exchanged using a maximum of 6 blocks in read and 6 blocks in write. The number of Blocks in TX must necessarily be equal to the number of blocks in RX.

The data structure within the single block, with other generic type parameters, is defined (on the Robox control) in the PFB.CFG file residing on the flash-card.

NOTE: The gsi file for the PLC is contained in the RDE installation directory, subdirectory etc/profibus.

The entities that can be defined in a write block (from outside to ROBOX) are as follows:

•Integer registers R and NVR (in 16/32-bit format)

•Real RR and NVR registers (in FLOAT or DOUBLE format)

•Write semaphores of different sizes (BYTE, WORD, DWORD, FLOAT and DOUBLE)

•Restricted zones

The entities that can be defined in a read block (from ROBOX to external) are as follows:

•Integer registers R and NVR (in 16/32-bit format)

•Real RR and NVR registers (in FLOAT or DOUBLE format)

•Input word/dword

•Word/dword output

•Reserved zones

The maximum single block length is 32 bytes.

NOTE: Remember that the format of FLOAT numbers is 4 bytes (1 of exponent and 3 of mantissa), while the format of REAL numbers processed by the R3 language is 8 bytes (2 of exponent and 6 of mantissa). If, in transforming DOUBLE registers to FLOAT, the contents of the registers are greater than the numerical maximum that can be represented in FLOAT, this limit is taken as the value (with the right sign). The value is 3.40282e38 (see IEEE standard 854).

NOTE: In case warm_rst.8 is active, all Profibus communications are disabled.

Related arguments

Profibus alarms

Keywords profibus