Master

Standard DP

The PROFIBUS DP section describes the necessary steps for establishing a DP connection (Set_Prm - parameter, Chk_Cfg - configuration) and for the exchange of user data (Data_Exchange).

Task synchronization

The Synchronisation section describes how the TwinCAT task is synchronized with the PROFIBUS cycle.

Slave priorities

The slaves can receive telegrams with differing cycle times. The necessary settings are described in the Slave Prioritisation/Multiple DP Cycles section.

Multiple DP cycles

In order to receive the most recent possible inputs when the task cycles are long, a number of DP cycles can be carried out for each task cycle, as described in the section on Slave Prioritization/Multiple DP Cycles.

Diagnostic

The diagnostic facilities are described in this section.

Error Reactions

It is possible for different error reactions to be set in the event of a fault (a slave fails or the task is stopped).

Sync/Freeze

Activation of the sync and freeze commands is described in the Sync/Freeze section.

Upload Configuration

The slaves connected to the PROFIBUS can be read via Upload Configuration.

Master redundancy

The Master redundancy section describes the settings required to have a second master with the same configuration configured as a standby master (as from TwinCAT 2.9).

MSAC_C1

The MSAC_C1 connection is established along with the cyclic connection. The Read, Write and Data_Transport services are supported.

MSAC_C2

The MSAC_C2 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.

Equidistance

The DPV2 equidistance functionality is described in the PROFIBUS MC section.