Cycle Clock Generation And Synchronization In Profinet Io - Siemens SIMOTION Function Manual

Synchronizing SIMOTION devices with a higher-level bus cycle clock
3.1 General information about synchronizing a SIMOTION device with the bus cycle clock
Note
Note that if SINAMICS drives with Safety Integrated are connected to the isochronous DP
master interface of a SIMOTION device and the actuation is performed via PROFIsafe:
A safety error in the drive which cannot be acknowledged can be triggered during the
synchronization of the SIMOTION device with the higher-level bus cycle clock. This error
occurs if the phase jump caused by the synchronization occurs while the safety functionality
in the drive is booting up.
Therefore, the synchronization must not be performed until after Safety Integrated in the drive
is ready. In order to achieve this, use the user-controlled synchronization, see synchronization
of a SIMOTION device with isochronous DP master interface (Page 33). Wait with the call of
the system function _synchronizeDPInterfaces until:
1. The drives have powered up (system variable cyclicInterface of the axis = ACTIVE).
2. Safety Integrated in the drives is ready (additional 250 ms = 10 * MAX (p9500)).
3.1.2

Cycle clock generation and synchronization in PROFINET IO

Clock generation in PROFINET IO
The following applies for clock generation in PROFINET IO:
If a PROFINET IO interface is available, the base cycle clock of a SIMOTION device is supplied
by this interface providing the interface has been configured as follows:
1. The synchronization type has been set as sync master or sync slave.
2. IRT with the "High Performance" option has been set as the real-time class.
In this configuration, the basic cycle clock is the send cycle clock set at the associated sync
domain.
It is necessary to distinguish between the following cases:
● The PROFINET IO interface is configured as a Sync-Master:
● The PROFINET IO interface is configured as a Sync-Slave:
28
And
This interface provides the cycle clock for the SIMOTION device including its isochronous
PROFIBUS DP interfaces. Synchronization with a higher-level bus cycle clock is not
necessary.
In this case, this interface supplies the basic cycle clock for the SIMOTION device.
– If a cycle clock is available at this interface, the SIMOTION device automatically
synchronizes itself with this cycle clock.
If PROFIBUS DP interfaces of the SIMOTION device have been configured as
isochronous DP master, their synchronization must be initiated by the user. See the
following section, "Synchronization in PROFINET IO".
– If no cycle clock is available at this interface (e.g. if the associated sync master fails), a
replacement cycle clock of the same size is generated.
Basic Functions for Modular Machines
Function Manual, 04/2014