KEBCO COMBIVERT F5 User manual

COMBIVERT F5
INSTRUCTIONS FOR USE | INSTALLATION F5 PROFINET OPERATOR
Translation of the original manual
Document 20098495 EN 03

3
PREFACE
Preface
The described hard- and software are developments of the KEB Automation KG. The
enclosed documents correspond to conditions valid at printing. Misprint, mistakes and
technical changes reserved.
Signal words and symbols
Certain operations can cause hazards during the installation, operation or thereafter.
There are safety informations in the documentation in front of these operations. Security
signs are located on the device or machine. A warning contains signal words which are
explained in the following table:
DANGER Dangerous situation, which will cause death or serious injury in case of
non-observance of this safety instruction.
WARNING Dangerous situation, which may cause death or serious injury in case of
non-observance of this safety instruction.
CAUTION Dangerous situation, which may cause minor injury in case of non-ob-
servance of this safety instruction.
NOTICE Situation, which can cause damage to property in case of non-obser-
vance.
RESTRICTION
Is used when certain conditions must meet the validity of statements or the result is
limited to a certain validity range.
Is used when the result will be better, more economic or trouble-free by following
these procedures.
More symbols
► Thisarrowstartsanactionstep.
• / - Enumerations are marked with dots or indents.
=> Cross reference to another chapter or another page.
Note to further documentation.
www.keb.de/nc/search

4
PREFACE
Laws and guidelines
KEBAutomationKGconrmswiththeECdeclarationofconformitywiththeCEmark
on the unit name plate, that the device complies with the essential safety requirements.
The EC declaration of conformity can be downloaded on demand via our website. Fur-
therinformationisprovidedinchapter"Certication".
Warranty
The warranty on design, material or workmanship for the acquired device is given in the
current terms and conditions.
Hereyouwillndourcurrenttermsandconditions.
www.keb.de/terms-and-conditions
Furtheragreementsorspecicationsrequireawrittenconrmation.
Support
Through multiple applications not every imaginable case has been taken into ac-
count. If you require further information or if problems occur which are not treated de-
tailed in the documentation, you can request the necessary information via the local
KEB Automation KG agency.
The use of our units in the target products is beyond of our control and therefore
exclusively the responsibility of the machine manufacturer, system integrator or
customer.
Theinformationcontainedinthetechnicaldocumentation,aswellasanyuser-specic
advice in spoken and written and through tests, are made to best of our knowledge and
information about the application. However, they are considered for information only
without responsibility. This also applies to any violation of industrial property rights of a
third-party.
Selection of our units in view of their suitability for the intended use must be done gener-
ally by the user.
Tests can only be done within the application by the machine manufacturer. They
must be repeated, even if only parts of hardware, software or the unit adjustment
are modied.
Copyright
The customer may use the instruction manual as well as further documents or parts from
it for internal purposes. Copyrights are with KEB Automation KG and remain valid in its
entirety.
Other wordmarks or/and logos are trademarks (™) or registered trademarks (®) of their
respectiveownersandarelistedinthefootnoteontherstoccurrence.

5
TABLE OF CONTENTS
Table of Contents
Preface ....................................................................................................................................................3
Signal words and symbols .............................................................................................................3
More symbols.................................................................................................................................3
Laws and guidelines.......................................................................................................................4
Warranty ....................................................................................................................................... 4
Support .......................................................................................................................................4
Copyright........................................................................................................................................4
Table of Contents ...................................................................................................................................5
List of Figures.........................................................................................................................................7
List of Tables ..........................................................................................................................................8
1 Basic Safety Instructions.............................................. 9
1.1 Target group.....................................................................................................................................9
1.2 Validity of this manual.....................................................................................................................9
1.3 Electrical connection ....................................................................................................................10
1.4 Start-up and operation .................................................................................................................. 10
2 Product Description .....................................................11
2.1 Intended use .................................................................................................................................. 11
2.1.1 Residual risks ..................................................................................................................... 11
2.2 Unintended use.............................................................................................................................. 11
2.3 List of literature .............................................................................................................................12
3 Hardware ...................................................................... 13
3.1 Overview of the control elements ................................................................................................ 13
3.2 Diagnostic interface X6B (COMBIVIS) ........................................................................................15
3.3 Node switch (x16, x1) .................................................................................................................... 15
4 Software........................................................................ 16
4.1 Fundamentals of the KEB PROFINET interface connection .................................................. 16
4.2 PROFINET acyclic data (parameter channel) according to PROFIdrive............................... 16
4.2.1 Parameter addressing with 16-Bit PNU plus 16 Bit Subindex (PROFIdrive)...................... 19
4.2.2 Set-addressing with subindex ............................................................................................20
4.2.3 Error codes of the acyclic communication..........................................................................21
4.3 Differences between normal and synchronous mode ............................................................... 21
4.3.1 Process data communication (general)..............................................................................23
4.3.2 Process data communication (synchronous mode) ...........................................................23
4.3.3 PROFINET-IRT communication and synchronous mode................................................... 23
4.3.4 Process data communication (asynchronous mode) .........................................................24
4.3.5 Prolemode(fromSWV3.3) .............................................................................................25
4.3.6 DRIVECOMprolemode(Fb.01.Bit9,8=01) ................................................................... 26

6
TABLE OF CONTENTS
4.3.7 Process data mapping........................................................................................................27
4.3.8 Fieldbuswatchdog .............................................................................................................28
4.3.9 PROFINET alarms .............................................................................................................28
4.3.10 PROFINET-Name (DCP-Set) ........................................................................................... 28
4.3.11 IdenticationofadevicebyashingLED(DCP-set)........................................................30
5 Diagnosis...................................................................... 31
5.1 Diagnosis via the diagnostic interface (X6B)..............................................................................31
5.2 Diagnosis via the second EtherNet interface parallel to PROFINET (X6C/X6D)......................31
6 Project Design and Unit Description with GSDML
File 33
7 Operator Parameters................................................... 34
7.1 Parameter overview.......................................................................................................................34
7.2 Parameter description...................................................................................................................37
8 Instructions for F5 PROFINET operator to Simatic
S7 59
8.1 Standard project design ...............................................................................................................59
8.2 Additional project design for synchronous communication according PROFINET IO-IRT ...62
8.3 Step7 Software...............................................................................................................................67
8.3.1 Acycliccommunication(parameterchannel)......................................................................67
8.3.2 Cycliccommunication(processdata).................................................................................67
9 Annex............................................................................ 68
9.1 F5 Operator internal error messages ..........................................................................................68
10 Examples for the setting of PD mappings............... 69
10.1 Mixed mapping (special case)....................................................................................................69
10.2 2 x 32-Bit Pdout plus 4 x 16-Bit Pdin .........................................................................................70

7
LIST OF FIGURES
List of Figures
Figure 1: Cycle time of the synchronization signal-- .......................................................................24
Figure 2: Read IP address ..............................................................................................................31
Figure 3: Address several IP devices..............................................................................................32
Figure 4: Select node address ........................................................................................................32
Figure 5: SIMATIC Info window.......................................................................................................59
Figure6: InstallGSDles ...............................................................................................................60
Figure 7: PN-IO interface ................................................................................................................60
Figure8: Congureobjectpropertiesassyncmaster.....................................................................61
Figure 9: PROFINET system ..........................................................................................................61
Figure 10: Graphical view of the PROFINET communication...........................................................62
Figure 11: Set KEB slave as Sync slave........................................................................................... 63
Figure 12: Set synchronization role...................................................................................................64
Figure 13: Selection of the transmission clock.................................................................................. 64
Figure 14: Synchronous alarms ........................................................................................................65
Figure 15: IO-cycle characteristics.................................................................................................... 66

8
LIST OF TABLES
List of Tables
Table 1: Overview of the operator..................................................................................................13
Table 2: Description of the LEDs ...................................................................................................14
Table 3: Description of the slots.....................................................................................................33
Table 4: Extended slot 3 ................................................................................................................33

9
BASIC SAFETY INSTRUCTIONS
1 Basic Safety Instructions
TheCOMBIVERTisdesignedandconstructedinaccordancewithstate-of-the-arttech-
nology and the recognised safety rules and regulations. However, the use of such devic-
es may cause functional hazards for life and limb of the user or third parties, or damages
to the system and other material property.
The following safety instructions have been created by the manufacturer for the area
of electric drive technology. They can be supplemented by local, country- or applica-
tion-specicsafetyinstructions.Thislistisnotexhaustive.Non-observancewillleadto
the loss of any liability claims.
NOTICE Hazards and risks through ignorance.
►Read the instruction manual !
►Observe the safety and warning instructions !
►If anything is unclear, please contact KEB Automation KG !
1.1 Target group
This instruction manual is determined exclusively for electrical personnel. Electrical per-
sonnelforthepurposeofthisinstructionmanualmusthavethefollowingqualications:
• Knowledge and understanding of the safety instructions.
• Skills for installation and assembly.
• Start-up and operation of the product.
• Understanding of the function in the used machine.
• Detection of hazards and risks of the electrical drive technology.
• Knowledge of DIN IEC 60364-5-54.
• Knowledge of national safety regulations (e.g. DGUV regulation 3).
1.2 Validity of this manual
ThismanualdescribesthecontrolpartoftheCOMBIVERTF6EtherCAT.
The manual
• contains only supplementary safety instructions.
• isonlyvalidinconnectionwiththepowerunitmanualofCOMBIVERTF6.

10
BASIC SAFETY INSTRUCTIONS
1.3 Electrical connection
DANGER Voltage at the terminals and in the device !
Danger to life due to electric shock !
►For any work on the unit switch off the supply voltage and secure it
against switching on.
►Wait until the drive has stopped in order, that perhaps regenerative
energy can be generated.
► WaituntilltheDC-Linkcapacitorsaredischarged(5minutes).Verify
by measuring the DC voltage at the terminals.
►Never bridge upstream protective devices (also not for test purpos-
es).
For a trouble-free and safe operation, please pay attention to the following instructions:
• The electrical installation shall be carried out in accordance with the relevant re-
quirements.
• Cable cross-sections and fuses must be dimensioned by the user accordly to the
speciedminimum/maximumvaluesfortheopperation.
• Within systems or machines the person installing electrical wiring must ensure that
onexistingornewwiredsafeELVcircuitstheENrequirementforsafeinsulationis
still met!
• For drive converters that are not isolated from the supply circuit (in accordance with
EN 61800-5-1) all control lines must be included in other protective measures (e.g.
double insulation or shielded, earthed and insulated).
• When using components without isolated inputs/outputs, it is necessary that equi-
potential bonding exists between the components to be connected (e.g. by the equi-
potential line). Disregard can cause destruction of the components by equalizing
currents.
1.4 Start-up and operation
The drive converter must not be started until it is determined that the installation com-
plies with the machine directive; Account is to be taken of EN 60204-1.
WARNING Software protection and programming !
Hazards caused by unintentional behavior of the drive!
►Check especially during initial start-up or replacement of the drive
converter if parameterization is compatible to application.
►Securing a unit solely with software-supported functions is not suf-
cient.Itisimperativetoinstallexternalprotectivemeasures(e.g.
limit switch) that are independent of the drive converter.
►Secure motors against automatic restart.

11
PRODUCT DESCRIPTION
2 Product Description
KEB Automation KG develop, produce and sell static drive converters worldwide in the
industrial power range. Drive converters of type F5 can be equipped optionally with a
PROFINET-IO slave interface. The F5 PROFINET operator is integrated into the drive
converterhousingbysimpleplug-inandtsintoallF5units.Hereitconcernstoanintel-
ligent interface which controls the data transfer from PROFINET to the drive converter
control and reverse. The data are internally transferred via the KEB own serial protocol
named HSP5.
2.1 Intended use
TheKEBCOMBIVERTservesexclusivelyforthecontrolandregulationofthree-phase
motors. It is intended for the installation into electrical systems or machines.
Technical data and information for connection conditions shall be taken from the type
plate and from the instruction manual and must be strictly observed.
The used semiconductors and components of the KEB Automation KG are developed
and dimensioned for the use in industrial products.
Restriction
If the product is used in machines, which work under exceptional conditions or if essen-
tialfunctions,life-supportingmeasuresoranextraordinarysafetystepmustbefullled,
the necessary reliability and security must be ensured by the machine builder.
2.1.1 Residual risks
Despite intended use, the drive converter can reach unexpected operating conditions in
case of error, with wrong parameterization, by faulty wiring or non-professional interven-
tions and repairs. This can be:
• Wrong direction of rotation
• Motor speed too high
• Motor is running into limitation
• Motor can be under voltage even in standstill
• Automatic start
2.2 Unintended use
The operation of other electric consumers is prohibited and can lead to the destruction of
the unit. The operation of our products outside the indicated limit values of the technical
data leads to the loss of any liability claims.

12
PRODUCT DESCRIPTION
2.3 List of literature
[1]: Application Layer Protocol for decentralized periphery and distributed automation
SpecicationforPROFINETV2.2
[2]: Application Layer Services for decentralized periphery and distributed automation
SpecicationforPROFINETV2.2
[3]: Prole Drive Technology PROFIdrive Technical Specication for PROFIBUS and
PROFINETV4.1
[4]:GSDMLSpecicationforPROFINETIOV2.10
[5]: Application manual of the used drive converter control.
[6]:ProleGuidelinesPart1IdenticationandMaintenanceFunctions.

3 Hardware
3.1 Overview of the control elements
Overview Type Description
LED3
LED1
LED2
LED4
LED6
LED5
LED1 PROFINET communication
LED2 Acyclic data access
LED3 Process data
LED4 PROFINET link
LED5 Identication
LED6 Error display
X6B Diagnostic interface
x16 High nibble of the node switch
x1 Low nibble of the node switch
X6C PROFINET, Port 0, default Ethernet-RJ45
socketinaccordancewithIEEE802.3100
Base-T
X6D PROFINET, Port 1, default Ethernet-RJ45
socketinaccordancewithIEEE802.3100
Base-T
x16 x1 X6C X6D
Table 1: Overview of the operator
13
OVERVIEW OF THE CONTROL ELEMENTS

LED1 Flashing Actual condition
Double blinking (200ms
ON/200ms OFF/200ms
ON/1000ms OFF)
PROFINETrmwarenotready
Constantly off PROFINETrmwareready
Constantly on PROFINET communication completely
started, internal communication asyn-
chronous
Blinking (500ms ON/500ms OFF) PROFINET communication completely
started, internal communication synchro-
nous
LED2 Acyclic data access
LED3 Flashes, as long as process data access to the drive converter is running. If
the synchronous mode as well as the IRT communication is active, the LED
isashinglikeLED1.
LED4 Flashes, if a link is recognized at PROFINET Port0 or Port1.
LED5 ServesasidenticationLED.ThisLEDcanbecontrolledfromthePROFINET
masterviathediscoveryandcongurationDCPsetservice.
Flashing Actual condition
Constantly off non-operated
Blinking (500 ms ON/500 ms
OFF) for 3 s
DCP set service with signal = FLASH_
ONCE
LED6 Flashing Actual condition
Constantly off No voltage supply at the drive converter
control unit
Blinking (500 ms ON/500 ms
OFF)
Drive converter control in error status
Fast blinking (50 ms ON/50 ms
OFF)
No information obtained from the drive
converter
Double blinking (200ms
ON/200ms OFF/200ms
ON/1000ms OFF)
Fatal error during initialization. No func-
tion of the operator!
Can occur e.g.:
- no valid KEB MAC address assigned.
-inconsistentconguration.
Constantly on No error
Table 2: Description of the LEDs
14
OVERVIEW OF THE CONTROL ELEMENTS

3.2 Diagnostic interface X6B (COMBIVIS)
RJ45 connector of the diagnostic interface.
ATTENTION Destruction of the PC interface!
►The connection of the diagnostic interface with a serial interface of a
PC may only be connected with a special HSP5 cable.
3.3 Node switch (x16, x1)
Node switch: Setting of an unit address in hexadecimal via two node switches. The left
node switch (x16) presets the high nibble, the right node switch (x16) presets the low
nibble of the unit address. The actual value can be read out in operator parameter ‚OS14
NodeSwitchVal’.WiththeadjustmentofthisvaluetheactivePROFINETnamewillbe
inuenced.Furthermorespecialcongurationscanbesetwiththisvalue(see7.1.10.
ProNet-Name(DCP-Set)).
Unit address = switch position (x16) * 16 + switch position (x1)
Example:
Switch position x16: 9 –> 9*161
+
Switch position x1: 5 –> 5*160
=
Unit address: 149 (95 Hex)
NodeSwitchVal Effect on PROFINET name Effect on IP address,
IP mask, IP gateway
0…239 / 0…EFh kebf5•n, whereby „n“ is the decimal
value of the node switch. Last stored values.
240 / F0h Last stored name. Last stored values.
241 / F1h1)
(reset to default) empty
IP adddress: 0.0.0.0
IP mask: 0.0.0.0
IP gateway: 0.0.0.0
242…253 / F2h…FDh Last stored name. Last stored values.
254 / FEh
(KEB production test) empty
IPadddress:192.168.0.100
IP mask: 255.255.255.0
IP gateway: 0.0.0.0
255 / FFh Last stored name. Last stored values.
1) Delivered condition
15
DIAGNOSTIC INTERFACE X6B (COMBIVIS)

4 Software
4.1 Fundamentals of the KEB PROFINET interface connection
The KEB F5 PROFINET interface connection contains a PROFINET slave controller
for time-critical operations of the communication. By using this PROFINET interface
connection it is guaranteed that basic communication is compatible to the PROFINET
specication.ThefunctionalityoftheKEBF5ProNetoperatorisdeterminedby:
• (Application) software (see value of the operator parameter OS00: Operator type)
•(ProNet)rmware(seevalueoftheoperatorparameterOS11:NetX_FwVersion)
Technical data of the PROFINET interface connection:
Supported PROFINET protocol versions PROFINET IO-RT (PROF-
INET IO-IRT *)
*The synchronous operating mode (IRT) is only possible when using an application
softwareversion>=2.6andaPROFINETrmwareversionfrom3.x.Forthissee
descriptionofparameterFb01:FBSCong.
4.2 PROFINET acyclic data (parameter channel) according to PROFIdrive
The KEB F5 PROFINET operator supports the coding of the acyclic services according
toPROFIdriveprolealsocalledBaseModeParameterAccess.Howeverthisapplies
only for the data transfer, not for the content or the coding. That means the KEB F5
PROFINET interface connection does not support parameters according to PROFIdrive
prole,butonlythetransportmechanism.Inthefollowingonlytheessentialinformation
forthetransportmechanismoftheacyclicdataaccordingtoProdrivearelisted.Acom-
pletespecicationisndin[3].
The acyclic parameter Request according to PROFIdrive provides a mechanism, where-
by a list of maximally 39 parameters can be written or read with two PROFINET record
accesses. The basic operation at PROFINET level is as follows:
1. Write-Record-Request of the master with Index = B02Eh, payload data = Parame-
ter-request (see below)
2. Write-Response of the slave, no payload data
3. Read-Record-Request of the master with Index = B02Eh, no payload data
4. Read-Response of the slave, payload data = Parameter response (see below)
Pleasenotethatthenetworkbyteorder(MSByterst)generallyappliesfortherevision.
16
FUNDAMENTALS OF THE KEB PROFINET INTERFACE CONNECTION

Parameter request:
Block-Denition Byte n Byte n+1 n
Request Header Request Reference Request ID 0
Axis-No. No. of parameters = n 2
1st parameter address Attribute No. of elements 4
Parameter Number (PNU) 6
Subindex 8
:::
n th parameter address Attribute No. of elements 4 + 6 x (n-1)
Parameter Number (PNU)
Subindex
1st parameter value(s) Format No. of values 4 + 6 x n
Values
:::
Nth parameter value(s)
The parameter values are only contained in a request with request ID = 2.
Request Reference: 1 ... FFh: Serial number for differentiation of the different requests
Request ID:
Value Meaning
01h Request parameter (Read)
02h Change parameter (Write)
Axis-No. = 0, since the F5 PROFINET operator represents an 1:1 gateway.
No. of parameters: 1…39 (max. 39 parameters can be read or written via request)
Attribute:
Value Meaning
10h Value
20h Description (not supported here)
30h Text (not supported here)
17
PROFINET ACYCLIC DATA (PARAMETER CHANNEL) ACCORDING TO PROFIDRIVE

No. of elements: =1
Parameter number (PNU): Addressing of the parameter (see below)
Format:
Value Meaning
1 Boolean
2Integer8
3 Integer16
4 Integer32
5Unsigned8
6 Unsigned16
7 Unsigned32
41h Byte
42h Word
43h DWord
44h Error
The F5 PROFINET operator returns all parameters during reading with format = 4.
Also the master can preset all parameters during writing with format = 4.
No. of values: =1
Parameter response:
Block-Denition Byte n Byte n+1 n
Response header Request reference mirrored Response ID 0
Axis-No. mirrored No. of parameters = n 2
1st parameter value(s) Format No. of values 4 + 6 x n
Values
: : :
Nth parameter value(s)
TheparametervaluesarecontainedinresponseonlyatresponseID=1or81hor82h
(*3).
(*3)Thechange,whichalso contains a negative write-response(response ID =82h)
parametervaluesonlysupportstheF5-PROFINETsoftwarefromV3.1.
Response ID:
Value Meaning
01h Request parameter ok (read)
02h Change parameter ok (write)
81h Request parameter with error (read)
82h Change parameter with error (write)
18
PROFINET ACYCLIC DATA (PARAMETER CHANNEL) ACCORDING TO PROFIDRIVE

Ifanerrorhasoccurredduringthereadaccesstoaparameter,theresponseID=81h
is set. Furthermore, the format = 44h (error) is set for this parameter value and the error
value is set as 16-bit value as follows:
Value Description
11h Timeout on access to the parameter or drive converter busy
14h Drive converter busy (*4)
00h Invalid parameter address or password
17h Data invalid
65h Error in internal communication (BCC error)
66h Error in internal communication (invalid service or invalid operation)
67h Invalid password
68h Error in internal communication (invalid telegram)
69h Error in internal communication (parity error)
03h Invalid parameter set (subindex)
6Bh Error in internal communication (invalid operation) (*5)
(*4) The error code „drive converter busy“ was changed in the software version
V3.1from11hto14h.
(*5) The error code „invalid operation“ was changed in the software version
V3.1from66hto6Bh.
(to *3) Free from error requests are listed in a negative Write-response (Re-
sponse-ID=82h)withformat=40h(Zeror)andNoofValues=0.
4.2.1 Parameter addressing with 16-Bit PNU plus 16 Bit Subindex (PROFIdrive)
1. PNU Last PNU Description
0000h FFFFh Parameters of the drive converter control and operator with
PNU = KEB-Parameter-Address (*1). KEB uses the subin-
dex for set-addressing. Parameters of the operator always
startatPNU=XX80h
(*1) The KEB parameter address can be found here or in [5]. It is also possible to
displaytheKEBparameteraddressintheKEBstart-upsoftwareCOMBIVIS
(more information see annex).
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PROFINET ACYCLIC DATA (PARAMETER CHANNEL) ACCORDING TO PROFIDRIVE

4.2.2 Set-addressing with subindex
The PROFINET subindex is used for set-addressing for all KEB parameters. A param-
eter that contains more than one value is called set-programmable at KEB. These pa-
rameters have always eight different values. The 1st value is addressed via set 0 and
the last value via set 7.
The conversion from PROFINET-subindex to set selection can be adjusted with param-
eterFBSCong.Bit6fromsoftwareversion2.9.
Subindex Description for FBS cong. Bit6 = 0 (subindex bit-coded)
0 Indirect set-addressing: The addressed set is determined by the appro-
priate set indicator. Parameter Fr.09 is valid for parameters of the drive
converter control.The operator does not have a set pointer parameter,
an access with subindex = 0 corresponds here to access with subindex
= 1
1 Direct set-addressing of set 0
2 Direct set-addressing of set 1
4 Direct set-addressing of set 2
8Direct set-addressing of set 3
16/10h Direct set-addressing of set 4
32/20h Direct set-addressing of set 5
64/40h Direct set-addressing of set 6
128/80h Direct set-addressing of set 7
By this bit coding it is generally possible to address several sets with one command.
However this should not be used during a read access, since an error code is returned
if not all values in the addressed sets are the same. This multiple set-addressing can be
used without problems for writing of set-programmable parameters.
Subindex Description for FBS cong. Bit6 = 1 (subindex linear)
0 Indirect set-addressing: The addressed set is determined by the appro-
priate set indicator. Parameter Fr.09 is valid for parameters of the drive
converter control.
1 Direct set-addressing of set 0
2 Direct set-addressing of set 1
3 Direct set-addressing of set 2
4 Direct set-addressing of set 3
5 Direct set-addressing of set 4
6 Direct set-addressing of set 5
7 Direct set-addressing of set 6
8Direct set-addressing of set 7
This coding of the PROFINET subindex is compatible to the coding of the new PROF-
INET-PDmappingparameters(seedescriptionofparameterFb28).
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PROFINET ACYCLIC DATA (PARAMETER CHANNEL) ACCORDING TO PROFIDRIVE