Siemens CP 443-5 Basic User manual

SIMATIC NET
S7–CPs for PROFIBUS
Manual Part B3
CP 443-5 Basic
6GK7 443-5FX01-0XE0 Version 3 and higher (Firmware version V3.2 and higher)
for SIMATIC S7-400 / S7-400H
PROFIBUS interface
(9-pin sub-D female
connector)
Mode Selector
Status and fault LEDs
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Notes on the Product
2CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Notes on the Product
Note
All notes in the product information bulletin, which is supplied with this product,
are valid and must be observed.
Compatibility with the Previous Version
Note
Make sure that you read the information regarding extended functionality and
restrictions in Chapter 6 of this manual!
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B3–3
CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Contents
Contents – Part A
PROFIBUS CPs – General Information See General Part. . . . . . . . . . . . . .
Note
Please remember that Part A of the manual also belongs to the description of the
CP. Among other things, it contains explanations of the safety notices and general
information that applies to all S7 CPs for PROFIBUS.
You can also download this general part from the Internet:
http://www4.ad.siemens.de/view/cs/de/8774037
Contents – Part B3
1 Properties / Services B3–4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Requirements for Use B3–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Use with the Current CPU Types B3–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Converting older Systems B3–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Setup and Installation B3–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Displays and Mode Selector B3–11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Performance Data B3–13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Supported Transmission Rates B3–13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Data of S5-Compatible Communication (SEND/RECEIVE Interface)
on FDL Connections B3–13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Data of FMS Connections B3–14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Characteristics of S7 Communication B3–16. . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Maximum Number of Connections in Total B3–17. . . . . . . . . . . . . . . . . . . . . . .
5.6 Time-of-day Synchronization B3–17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Use in Fault-Tolerant Systems B3–18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8 Other Characteristics B3–19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Compatibility with the Previous Product B3–20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Extended Functionality Compared with Previous Product B3–20. . . . . . . . . .
6.2 Replacing Older Modules / Replacing Defective Modules B3–21. . . . . . . . . .
7 Technical Specifications B3–22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Properties / Services
B3–4 CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Properties / Services
Application
The CP 443-5 Basic communications processor is designed for use in a SIMATIC
S7-400 (standard) and S7-400H (fault-tolerant system) programmable controller. It
allows the S7-400 / S7-400H to be connected to a PROFIBUS field bus system.
Services
The current version of the CP 443-5 Basic supports the following communication
services in the standard and H systems:
SPROFIBUS FMS (complying with EN 50170, FMS client and server function)
as FMS master for the following types of connection:
– MMAC: Master-master acyclic
– MSAC: Master-slave acyclic
– MSAC_SI: Master-slave acyclic with slave initiative
– MSCY: Master slave cyclic
– BRCT (broadcast): Sending to all FMS stations
SS7 communication and PG/OP communication
– PG functions with upload / download of FM modules, configuration /
diagnostics and routing
Note on routing: Dynamic switchover to alternative paths (for example if
there is a problem on one of the possible transmission paths) is not
supported.
– Operator control and monitoring functions (HMI)
– Data exchange using communication function blocks on S7 connections
(fault-tolerant S7 connections also possible) 1)
1)
Blocks for S7 communication (see also STEP 7 online help or
“System Software for S7-300/400 System and Standard Functions” manual):
BSEND SFB 12
BRCV SFB 13
PUT SFB 14
GET SFB 15
USEND SFB 8
URCV SFB 9
START SFB 19
STOP SFB 20
RESUME SFB 21
STATUS SFB 22
USTATUS SFB 23
CONTROL SFC 62
1
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Properties / Services
B3–5
CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
SS5-compatible communication (SEND/RECEIVE Interface) over FDL
connections of the following types:
– specified FDL connections
– free layer 2 connections
– broadcast
– multicast
STime-of-day synchronization over PROFIBUS
– The CP forwards time-of-day synchronization frames from the LAN to the
station (CPU = time slave) or from the station to the LAN (CPU= time
master) or this station is synchronized via a different LAN and the
time-of-day synchronization frame must be forwarded over PROFIBUS for
the synchronization of further stations.
– Time-of-day status value, standard/daylight saving time switchover,
synchronization status
The services of the CP 443-5 Basic module listed above can be used at the same
time.
Configuration
When configuring, you must use STEP 7 version V5.1 SP2 or higher; for FDL
connections and diagnostic functions you must already have installed the NCM S7
for PROFIBUS optional package, delivered with STEP 7. Depending on the version
you are using, note the following characteristics and special features:
SSTEP 7 version 5.0 Service Pack 3
This version is the minimum requirement for the routing of PG functions and
time-of-day synchronization.
The optional package “SIMATIC S7 H Systems” must also be installed to
configure fault-tolerant systems.
The following functions of the CP are not yet supported in this configuration
environment when using fault-tolerant systems:
– Single (non-redundant) communications connections cannot be configured in
a fault-tolerant system;
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Properties / Services
B3–6 CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
SSTEP 7 version 5.1 Service Pack 3
All the functions described can be used.
When configuring fault-tolerant systems you must also install the “SIMATIC S7
H Systems” optional package.
It is possible to configure over the MPI or LAN/PROFIBUS.
System modifications are possible during operation (H system).
Programming – Using Blocks
For some communication services, there are “off-the-peg” blocks (FCs/FBs)
available that implement the interface in your STEP 7 user program. You will find a
detailed description of these blocks in the NCM S7 for PROFIBUS manuals.
Notice
We recommend that you always use the latest block versions for all module types.
You will find information on the latest block version and links to download the
current blocks in our Customer Support on the Internet:
http://www4.ad.siemens.de/view/cs/en/8797900
If you are using older block types, this recommendation only applies if you also
have the latest firmware version.
You will find further information and Internet addresses in the Preface of the
General Part of this manual.
Module Replacement without PG
Depending on the setting in the project configuration, the configuration data can
also be stored in the load memory of the CPU. Therefore replacing modules is
possible without having to download the configuration data from the PG.
The stored configuration data are protected from power outage by battery backup
or by plugging an EPROM card into the CPU.
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Requirements for Use
B3–7
CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Requirements for Use
The CP 443-5 Basic described here is supported by all the CPU operating systems
listed in the table below.
The chapter also contains the following information:
SThe number of CPs that can be operated with one CPU.
SThe number of AG-SEND or AG-RECV calls on the SEND/RECEIVE interface
that can be active at the same time (data exchange on FDL connections over
PROFIBUS and corresponding connections over Industrial Ethernet).
2.1 Use with the Current CPU Types
When operating the CP 443-5 Basic with the CPU types listed here in the table,
the following functionality is supported without exception:
SNumber of operable CPs: 14
SMulticomputing (except for H systems)
Table 2-1 Use with the Current CPU Types
CPU Order number Firmware version
Number of AG-SEND or AG-RECV
calls at same time
CPU 412 6ES7 412-1XF03-0AB0 As of V3.0 24 / 24
CPU 412-2 6ES7 412-2XG00-0AB0 As of V3.0
CPU414-2 128 KB 6ES7 414-2XG03-0AB0 As of V3.0
CPU414-3 384 KB 6ES7 414-3XJ00-0AB0 As of V3.0
CPU 414-4H 6ES7 414-4HJ00-0AB0 As of V3.0
CPU416-2 0.8 MB 6ES7 416-2XK02-0AB0 As of V3.0 64 / 64
CPU416-3 1.6 MB 6ES7 416-3XL00-0AB0 As of V3.0
CPU 417-4 6ES7 417-4XL00-0AB0 As of V3.0
CPU 417-4H 6ES7 417-4HL00-0AB0 As of V2.1
6ES7 417-4HL01-0AB0 As of V3.0
CPU416F-2 1.6 MB 6ES7 416-2FK02-0AB0 As of V3.1 64 / 64
2
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Requirements for Use
B3–8 CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
2.2 Converting older Systems
The discontinued CPUs listed here in Table 2-2 support the following functionality
in conjunction with the CP 443-5 Basic:
SNumber of operable CPs: 8
SMulticomputing
Table 2-2 Use with Discontinued CPU Types
CPU Order number Version
Number of AG-SEND or AG-RECV
calls at same time
CPU 412 6ES7 412-1XF01-0AB0 2 or
higher 12 / 12
6ES7 412-1XF02-0AB0 2 or
higher
CPU 413 6ES7 413-1XG01-0AB0 2 or
higher
6ES7 413-1XG02-0AB0 1 or
higher
CPU 413-2 6ES7 413-2XG01-0AB0 2 or
higher
6ES7 413-2XG02-0AB0 1 or
higher
CPU414–1 6ES7 414-1XG01-0AB0 2 or
higher
6ES7 414-1XG02-0AB0 2 or
higher
CPU414-2 128 KB 6ES7 414-2XG01-0AB0 2 or
higher
6ES7 414-2XG02-0AB0 2 or
higher
CPU414-2 384 KB 6ES7 414-2XJ00-0AB0 4 or
higher
6ES7 414-2XJ01-0AB0 2 or
higher
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Requirements for Use
B3–9
CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Table 2-2 Use with Discontinued CPU Types, continued
CPU VersionOrder number
CPU
Number of AG-SEND or AG-RECV
calls at same time
Order number
CPU416–1 6ES7 416-1XJ01-0AB0 2 or
higher 32 / 32
6ES7 416-1XJ02-0AB0 1 or
higher
CPU416-2 0.8 MB 6ES7 416-2XK00-0AB0 4 or
higher
6ES7 416-1XK01-0AB0 1 or
higher
CPU416-2 1.6 MB 6ES7 416-2XL00-0AB0 4 or
higher
6ES7 416-2XL01-0AB0 1 or
higher
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Installation and Commissioning
B3–10 CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Installation and Commissioning
Procedure / Steps
Table 3-1
Step Explanation / Meaning
1. Insert the CP 443-5
Basic The CP 443-5 Basic can be inserted in all racks with slots for P and K bus attachment:
SCentral rack CR2
SUniversal rack UR1, UR2 or UR2H
as central rack
as expansion rack with rack no. 1–6
Note
When using the universal rack as an extension rack, you require an IM with a communication bus link!
The CP 443-5 Basic cannot be operated in an ER1 or ER2 expansion rack
(no K bus link possible).
Suitable slots in the rack:
With the exception of the slots reserved for the power supply and IM-R, the
CP 443-5 Basic can be inserted in all slots with a P and K bus interface (in
the central or in an expansion rack no. 1–6).
2. Attachment to
PROFIBUS Note the information in the General section of this manual.
Note
When using the CR2 rack, the CPU and CP must be plugged into the same segment if you want to use
FDL/FMS connections.
3. Configuration Depending on the communication services being used, configuration involves
the following steps:
SNode initialization
This is necessary in all situations. This assigns a PROFIBUS address
and bus parameters to the PROFIBUS CP. For details, refer to /4/
SConfiguring connections:
This is necessary when using the communication services, S7 functions
and FDL connections (SEND/RECEIVE interface). For details, refer to /5/
or /4/.
4. PG/PC Attachment
for Configuration You can connect the PG when configuring the CP as follows:
Svia MPI
Svia LAN / PROFIBUS
The CP 443-5 Basic must already have a PROFIBUS address (for details
of node initialization, refer to /4/).
3
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Displays and Mode Selector
B3–11
CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Displays and Mode Selector
LEDs Displaying the Status of the CP
The 4 LED indicators on the front panel provide information on the status of the CP
as shown in the table below:
Table 4-1
INTF(red) EXTF(red) RUN(green) STOP
(yellow) CP Operating Mode
Starting up (STOP->RUN)
Running (RUN)
Stopping (RUN->STOP)
Stopped (STOP)
STOPdue to internal error (for example
CP not configured)
Waiting for firmware update (duration 10
seconds after power on)
Waiting for firmware update (CP
currently has an incomplete firmware
version).
RUN and PROFIBUS bus errors
Module fault / system error
Key: on off flashing
Note
Read the explanations of the operating modes in the NCM S7 for PROFIBUS
manual /2/ under modes of operation.
4
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Displays and Mode Selector
B3–12 CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Controlling the Operating Status
There are different ways of controlling the mode of the CP 443-5 Basic, as follows:
SMode Selector
SNCM S7 for PROFIBUS configuration software
SSIMATIC Manager in STEP 7
To control the mode from STEP 7 / NCM S7 for PROFIBUS, the mode selector
must be set to RUN.
Mode Selector
With the mode selector, you can set the following operating statuses:
SSwitch from STOP to RUN:
The CP reads the configuration data into the work memory and then changes to
the RUN mode.
SSwitch from RUN to STOP:
The CP changes to STOP with the following results:
– Established connections (FDL, FMS connections, configured, and
unconfigured S7 connections) are terminated
In the STOP mode
–Configuration and diagnostics are possible
– The time of day is distributed
Note
Refer to the explanations in the manual /2/ on the topic of loading the database on
the CP.
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Performance Data
B3–13
CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Performance Data
5.1 Supported Transmission Rates
The transmission rate is set with the SIMATIC STEP 7 configuration software. For
the permitted rates, refer to Table 7-1 in Chapter 7
5.2 Characteristics of S5-compatible Communication
(SEND/RECEIVE Interface) on FDL Connections
The following characteristics are important when operating FDL connections
(specified, free layer 2 (SDA and SDN), broadcast, multicast):
Table 5-1
Characteristic Explanation / Values
Total number of FDL connections that can be
operated. 32 maximum
Size of the transferable data area on FDL
connections 240 bytes maximum per specified FDL connection (for sending and receiving)
Free layer 2, broadcast and multicast:
Per job up to 236 bytes of user data can be
transferred. The job header requires an additional 4
bytes.
Cycle Load Caused by FDL Connections
The cycle load time for FDL connections is largely dependent on the time required
to execute the function blocks (AG-SEND, AG-RECV) on the S7-400 CPU.
The following table lists the cycle load times of the available FCs in milliseconds. A
distinction is made between the statuses “job completed” and ”job active”. The
entries relate to the run time in the CPU 417-4 (see Table 5-2).
Table 5-2
Status Job Completed Job Active
Component / FC min. max. min. max.
AG-SEND 0.12 ms 0.27 ms 0.11 ms 0.29 ms
AG-RECV 0.15 ms 0.37 ms 0.10 ms 0.26 ms
5
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Performance Data
B3–14 CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
5.3 Data of FMS Connections
The following information is important for operating FMS connections:
Table 5-3
Component Explanation / Values
Maximum number of operable FMS connections The value depends on how many CPUs there are
in the S7 station FMS connection endpoint:
S1 CPU: 48
S2 CPUs: 42
S4 CPUs: 32
Note:
These restrictions are not checked when you
configure connections in STEP 7.
User data length 237 bytes for READ
233 bytes for WRITE and REPORT
Configurable Variables 512 server variables and 2640 variable
descriptions that can be loaded from the partner.
These can be distributed as required on the
maximum number of configurable FMS
connections. The value applies to elementary data
types or arrays of elementary data types.
This value does not apply to complex data types
(STRUCT)! Note the information in the manual /2/
about using complex data types (STRUCT).
Cycle Load Caused by FMS Connections
When calculating the reaction times with FMS connections, the run time of the
function blocks (FBs) in the S7-400 CPU (416-1 see Table 5-4) is the decisive
factor.
The table below shows the cycle load resulting from the available FCs in ms. A
distinction is made between the statuses “job completed” and ”job active”.
Table 5-4
Status Job Completed Job Active
Component / FB min max min max
READ 1.2 ms 1.6 ms 1.0 ms 2.3 ms
WRITE 1.2 ms 1.6 ms 1.0 ms 2.7 ms
STATUS 1.0 ms 1.5 ms 1.0 ms 2.8 ms
REPORT 1.7 ms 3.1 ms 1.3 ms 4.8 ms
IDENTIFY 1.7 ms 3.1 ms 1.3 ms 4.8 ms
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Performance Data
B3–15
CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Further Notes on FMS
Please note the following:
SThis version of the CP supports FMS broadcast.
SAccess to variables with password protection or group permissions is not
supported with the PC acting as an FMS client.
Note
Refer also to the entry at the following Internet address:
http://www4.ad.siemens.de/view/cs/de/10535180
SWhen reloading configurations with large numbers of connections in the
RUN mode, the following reactions may result:
– You receive the error message “Storage medium not obtainable”. The new
configuration data are not accepted.
– When diagnostics is called, it is possible that no diagnostic information is
displayed.
You can avoid this reaction by downloading the configuration data to the CP
in the STOP mode.
SStartup of the CPU after Power On
In the Properties dialog of the CPU, set the ”Startup after power on” to “Warm
restart” or “Cold start”.
Note
You should also refer to the entry on FMS data structures at the following Internet
address:
http://www4.ad.siemens.de/view/cs/de/10347267
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Performance Data
B3–16 CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Note
To allow module replacement without a PG, settings on the CPU must be
modified. Open the Properties dialog of the CPU in HW Config; in the “Monitoring
time for” box in the “Startup” tab, check and, if necessary, modify the following
values:
– “Transfer of parameters to modules” (recommended value = 600 *100 ms)
Depending on your system (station configuration), you may need to increase the
following parameter:
– “Ready message from modules”
For more detailed information about supported services and parameters, refer to
the PICS tables (PICS: Protocol Implementation Conformance Statements) in the
manual /4/.
5.4 Characteristics of S7 Communication
The following data are important for operating S7 connections:
Table 5-5
Characteristic Explanation / Values
Number of S7 connections that can
be operated via PROFIBUS Maximum 48
(The value depends on the S7-400 CPU being used.)
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Performance Data
B3–17
CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
5.5 Maximum Number of Connections in Total
In total (FDL , FMS , and S7 connections) a maximum of 59 connections can be
operated
As an example, the following multiprotocol configuration was tested:
28 FMS client connections to S7-400/300 with SCC=RCC=1
+ 1 FMS server connection to S7-400 with SCC=RCC=4
+ 1 FMS server connection to S7-300 with SCC=RCC=1
+ 16 FDL connections to S7-400/300
+ 8 configured S7 connections to S7-400/300
+ 4 unconfigured HMI connections
+ Time-of-day forwarding
+ Diagnostics
Note
If PG or HMI functions are used, a suitable number of S7 connections must be
reserved during configuration!
5.6 Time-of-day Synchronization
The CP 443-5 forwards time-of-day synchronization frames in the following
directions:
1. From the CPU via the CP to PROFIBUS if the local CPU is the time master or
this station is synchronized via a different LAN and the time-of-day
synchronization frame is forwarded via PROFIBUS for the synchronization of
further stations.
2. From PROFIBUS over the CP to the CPU if a remote station is time master, for
example:
– a remote CPU 41x with PROFIBUS interface (for example, CP 443-5)
– a remote PC with CP 5412 / 5613 / 5614
Note
With transmission rates of < 1.5 Mbps, we recommend that you configure a
synchronization interval of at least 10 s.
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Performance Data
B3–18 CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
5.7 Use in Fault-tolerant Systems
With the CP 443-5 Basic, you can operate fault-tolerant S7 connections in an H
system.
You will find more detailed information about the possible operating and structural
options in the “SIMATIC S7-400H Programmable Controller Manual, Fault-tolerant
Systems”.
If the CP 443-5 Basic is used in a fault-tolerant S7-400H system, the following
communications services can also be used on single (non-redundant) connections:
SS7 connection for PG functions and PG routing
SS5-compatible communication (SEND/RECEIVE interface) on FDL connections
SFMS connections
STime-of-day distribution
Note
Please note the CPU types in Table 4-3
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Performance Data
B3–19
CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
5.8 Other Characteristics
No Diagnostics During Configuration
During configuration (CP online), diagnostics of the CP 443-5 Basic over MPI is not
permitted.
Memory Reset of the CP
!Warning
Please note that when you reset the CP memory using NCM Diagnostics or the
SIMATIC Manager, the configuration data on the CPU must also be deleted
otherwise the data will become inconsistent.
When using the S7-400H, do not use the memory reset function on the CP!
FMS Operation – Disabling and Enabling Interrupts and Asynchronous Events
Communication using the FMS blocks in the user program can break down if
interrupts take too long to service (interrupt-driven programs such as hardware and
diagnostic interrupts). You should check the codes in the CP diagnostic buffer.
It is advisable to disable interrupts before calling the FMS blocks and to enable
them again after the FMS block call.
Note
Please read the additional information and notes. These are available in our
Customer Support on the Internet:
http://www4.ad.siemens.de/view/cs/de/4557726
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Compatibility with the Previous Product
B3–20 CP 443-5 Basic for PROFIBUS / Manual Part B3 –
Release 11/2002
C79000-G8976-C161-03
Compatibility with the Previous Product
6.1 Extended functionality Compared with Previous Product:
The CP 443-5 Basic (6GK7 443-5FX01-0XE0) described here can be used as a
replacement for the previous product CP 443-5 Basic (6GK7 443-5FX00-0XE0).
The CP 443-5 Basic described here provides new functionality.
Please note the following information.
Extended Functions with 6GK7 443-5FX01-0XE0
SPG bus functions in multiple subnets
If you want to use the PG bus functions in multiple subnets, you must install the
STEP 7 software version V5.0 or higher on the PG/PC.
Note: Dynamic switchover to alternative paths (for example if there is a problem
on one of the possible transmission paths) is, however, not supported.
STime-of-day synchronization
SUse in SIMATIC S7-400H (fault-tolerant PLC)
6
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