ProfiBus

1
In the name of GOD

• ProfiBus
• (Process Field Bus)

Presenter Ahmad Kia
2
??? ??? ??????

• ????? ?????? ?? ???? ?????? ? ?????? ???
• ??????? ?????? ProfiBus
• ?????? ??????? ?? ProfiBus
• ????? ???? ProfiBus
• ??????????? ? ?????????? ???? ??????? ??
  ProfiBus
• ???? ???? ?? ????? ????? ????? ???(???? ?????)
• ??? ???? ? ??????

3
?????? ???? ????

• Profibus ???? ???? Process Field Bus ?? ????
• 1)Field ?? ?????
• ????? ???? ??????? ?? ???? ???? ????? ?? ????
• 2)Process (?????)
• ????? ??????? ??? ?? ??? ????? ?? ?? ????
• 3)???
• ??? ?? ???? ?? ?????? ?? ?? ????? ???? ?? ??? ??
  ?? ?? ???? ?? ????? ? ????? Field(?????)?? ??????
  ????? ?????? ? ?? ????? Data ?? ???????

4
?????? ???? ????

• 4) Field Bus
• ???? ??? ?? ???????????? ????? ?? ?? ?????? Field
  (???????) ????? ??? ? ???? ?? ?????? ?? ??
  ??????.
• 5) Protocol
• ????? ????? Data ??? ????? Field ?? Network ??
  ????
• 6)Cell Level
• ?????? ??? ???????? ????? ? ????? ?? ???????
  ?????? ?? ??????? ?? ????

5
?????? ???? ????

• 7)Configuration(????????)
• ?? ???? ????? ???????? (?????) ????? ???? ?????
  ?? ?????? ?? ????? ?????? ?? ????? ? ????? ?????
  ?? ??? ????
• ????? ?? ? ???? ???? ??? ?????
• 8)Media(????? ????)
• ??? ??? ? ?????? ???? ?? ???? ?? ???? ?? ??? ????
  ???? ??????? ???? ?? ???? ???? ???? ???? ????
  ?????????? ??????? ?...

6
????? ??? ProfiBus
ProfiBus ???? ???? ???? ??? ????? ?? ??????
(independent-vendor)? ??? (openness) ??? ??
???? ?????? ???? ????? ????? ???? ????? ????? ??
???????? ?????? ? ????? ?????? ?? ? ?????????
????? ???? ?? ???. ?? ????? ?????? ?
???????????? ????? ?? ??? ??? ? ???? ? ???????
????? ????? ? ????????? ?? ????? ???? Field, Cell
,Sensor, Actuator, PLC,PC ?? ???? ?? ???? ??
?????? ?? ?????? ?? ?????
7
????? ??? ProfiBus
8
????? ??? ???? ????? ??? Openness
Bus
Openness ?? ???? ?? ?????????
ProfiBus(????????? ??????? EN 50170) ????? ??
??????? ???? ?? ?????????? ??? ?????????
???????? ?????((Independent-Vendor ???
?????????EN50254) ?? ?? ?? ???? ???? ???? ????
??????? ?? ??? PC?? ??? ??? ?? ??????? ??????
????? ???????????????? ????? ?? ???? ???
?????????? ??? ???? ?? ?????.
9
??????? History
- ???? ?? ?? ???? ?? ???? 1990 ?? ????? ?????
????? ?? ?? ????? ?? ????? ????? ?? ?????
???????? ? ???? ??? ????? ??? ??? ???? ????? ????
? ???? ????? ?? ????? ????? ??????? ????? ?????
??? ????????? ???? ?????????? ??????? ? ??? ?
???? ????? ??? ????? ??? ?? ?? ??? ????? ??? ASIC
???? ??? - ?? ????? ??? ????????? DIN 19245 ??
????? ? ?? ??? ??? ??? ????????? EN 50170 ??
????? ???? ????? ??.
10

• ???? ???? ????? ???
• Profibus Basic Expression

11
???? ???? ????? ??? Basic Expression
????? ??? ????? ????? ?????? ??????? ? ??????
????? ??????? ????? ??? ?? ?? ?? ???????????????
???????? ????? ????? ???(Decentralized)?
????????? ?? ?? ?? ??? ???? (Field Level) ?? ???
???? (Cell Level) ???? ????.
12

• ????? ???? ????? ???
• Profibus Network Devices

13
????? ???? ????? ??? Profibus Network
Devices
1-Media ?? ????? ???? ????????
Configuration ???? ????? ??? ???????? ?? ???
??? ?? ????? ???? ???? -????? Station ?? ??
???? ?? ???? ????? ????? ???? OLM (Optical Line
Module) - ????? Configuration ???? ?????
????????? ? ???? ?? ????? ?? ??? ????? ????
??? ?????? ????-???????? ?? ????? ??? ????? ???
???????? ? ???? ?? ????OLM
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(No Transcript)
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????? ???? ????? ??? Profibus Network
Devices
2-?????? RS-485 ???? ????? ?? ??? ??? ?????
?? ???? ?? ????? ??? ? ??????? ?????? 3-?????
?????(Repeater)RS-485 ??? ????? ?? ????
????? ??? ?? ?????? Station 32 4-????? ?????
???? OLM - ????? ????? ???? ????? ??? ?????
???????? ?? ?????
16
????? ???? ????? ??? Profibus Network
Devices
5-???? ????? ????OLP ????? ????? ???? ?????
??? ????? ????? ?? ??????? ?? ???? ???? ????
6-??? ????? ??? ???? ??? ????????? ????
????? ? ??? ???? ?? ???? ??? ????? ???(EN50170)
???? SCOPE ?? ?????
17
OLM V3 - Topologies

• Line
• Star / Tree
• Redundant Ring

OLM V3
FO
RS 485
18
????? ???? ????? ??? Profibus
Network Devices
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????? ???? ????? ??? Profibus Network
Devices
7-?????? ????? ??? ??? ?????? - ??????
???? ????? ??? ? ???????? RS-485 - ??????
?????? ??????Slave - ????? ??? ???? ???? - ???
???? ???? ?? ????? ????? ?? - ????? ?????Slave
??? ????? ? ???? ????
20
????? ???? ????? ??? Profibus
Network Devices
8--????? ?????? ????? ???? - ????? ????
????? ??? ?? ???(????? ????) ?? ??? ILM - ?????
????? ????? Slave ?? ????? ???? ???? ??????? ??
??? - ?????? ??? ???? ???? 15m? ?????? ???? ??
1.5 bit/s -??????? ??????? ?? ????? ?????? ??
Station ??? ???? - ????? ????? ???? ? ???? ??
????? ????? ????? ? ????? - ????? ????? ????? ??
???? ????? ??????? ???? ???? LED ??? ILM
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Master slave
Masters Slaves ?? ProfiBus Master ?? Active
Station ????? ??? ?? (???? ???? ?? ???????)???
? ?????? ???? ?? ??? ?? ????? ?? ??? (?????
?????? ?????? ????? token passing) - PLC?? ?
PC?? ?? ?????????? Master?? ?? ?????.- Slave ??
Passive Station ????? ?? ???? ????? Master
???? ?? ?? ?????? ????? ??? ? ??? ? ?????? ????
????. -????????????????????????????????
?...???????????? Slave ?? ?? ?????.-
22

• ???????? ????? ???
• Profibus Technology

23
???????? ????? ??? ProfiBus Technology
1- ??????? ???????????? ?? ???????? ?
???????????? ??????? ??? 2- ??????? ????????
??? ?? ???????? ? ????? ?????? ???? ??? 3-
??????? ????????? ??? ?? ?????? ?????? ?
???????? ?????? ???? ??????? ????? ???
RS-485
IEC 1158-2
Fiber Optic
24
???????? ????? ??? ProfiBus Technology
Communication Profiles Physical
Profiles Application Profiles
25
???????? ???? ????? ??? ProfiBus Network
Topology

• -Factory Level
• -Cell Level
• -Field Level

26

• ?????????? ???????
• Communication Profiles

27
?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• Profibus DP (Data Processing)
• Profibus FMS (Field Bus Message Specification)
• Profibus PA (Process Automation)

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?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• 1-????? ??? DP
• ????? ????? ? ????? ???? ??? ??? ????? ???
• - ???? ????? ??? ?????? ??????? ??? ??????????
  ???
• - ???? ???? ???? ? ???????(HOOKUP) ?? ?????
• - ????? ?????? ??? ????? ????? ????????? ?
  ?????-???????? ????? ???? ?? ??? ??????? (Device
  Level)
• - ???? ??????? ???? ?????? ????? ?????? ??
  0-20mA?? 24V

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?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• ???????? ????? ??? DP
• - ??????? ?? RS-485(??? ?????0?5 ???) ? ????
  ????
• - Baud Rate(???? ????? ????) ??? 9.6 kbit/s ??
  12Mbit/s(???? ?? ????? ??????? ???????)
• - ????? ??? ?? ????(?? 0 ??126) ?? ???? ??
  DP-Station ?? ???? ???? ?? ?????? ?????
• - ?? Master?????? ?????? 126 Slave ?? ????

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?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• ???????? ????? ??? DP(?????)
• - ???? ???? ?? ????? ????? ???? ?? 32 Station ??
  ?????? ???? ?? ???? RS-485
• - ???? ???? ?? ????? ????? ???? ?? 32 Station ??
  ????? ???
• (100??? ?? 12Mbit/s?? 1200??? ??9.6 kbit/s)
• - ?????? ??? ???? 10km

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DP - Example
PLC
Valve Node
Modular I/O
Operator Panel
32
?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• 1-????? ??? FMS
• ????? ????? ? ????? ???? ??? ??? ????? ???
• - ???? ???? ?????? ??????? ?? ??? ????? (Cell
  Level)
• - ??????? ?? ???? ??????? ????? ?????? ? ??
  ?????
• - ?????? ????? ????? ??? ?? ???? ????? ??
  ????????

33
?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• ???????? ????? ??? FMS
• - ????? ???? ?????? ?? ???? ? ??????? ?????? ??
  ?????
• - ????? ???????? ?? ???? ????? ??????(10 or 15
  Stations)
• - Baud Rate(???? ????? ????) ???? 1.5Mbit/s

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FMS - Example
SCADA PC with CITECT and PROFIBOARD
SIEMENS S300 PLC
Moeller PLC
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?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• 1-????? ??? PA
• ????? ????? ? ????? ???? ??? ??? ????? ???
• - ????? ProfiBus-DP

36
?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• ???????? ????? ??? PA
• - ??????? ???? ?? Field ??? ????
  ???(intrinsically-safe) ??? ????? ????????
• - ????????? IEC1158-2
• - ??? ??? ???? ???? ?? ??? ?????????-?????? ??
  ???? ????????????Profibus-

37
PA - Example
Flow Transmitter
Level Transmitter
DP/PA Coupler
DP
38

• ?????????? ??????
• Physical Profiles

39
?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• ??????? ??????
• ?????? ???????? ?????? ???? ?? ???? ????? ??????
  ? ???? ?????? ????
• ?? ??? ?????? ???? ?? ????? ???
• - RS-485 ??? ?????? ??? ????? ?? Manufacturing
  Automation
• IEC 1158 - ??? ??????? ?? Process Automation
• - ???? ???? ??? ??????? ?? ???? ?? ????? ??? ?
  ???? ???? ????

40

• ?????????? ???????
• Application Profiles

41
?????????? ??????? ? ??????? ????? ???
Communication Profiles Formats of ProfiBus

• ??????? ???????
• ????? ?? ????? ??????? ? ?????????? field ??
  ????? ????? ??????? ?? ???? ????? ??? ???
• ??????? ??????? ??????? ????? ??? PA ?? ????
• ??? ??????? ???? ????????? ? ???? ???????
  ??????? ???? ????????????? ?????? ?????
  ?????????????????????? ? .... ???

42
?????? ?????? ?? ????? ??? (Protocol
Architecture)
?????? OSI(Open System Communication) ?? ????
????????? ISO 7498 ?? ???? ?????? ??????? ?????
?? ??? ?? ?????? ?? ???
43
?????? ?????? ?? ????? ??? (Protocol
Architecture)
- ????1(???? ??????) ? ?????? ????? ??? ??????
?????? - ????2(???? ?????? ????) ? ??????
????????? ?????? ?? ??? - ????7(???? ???????)
? ?????? ????? ???????
44
Protocol Architecture
45
?????? ?????? ?? ????? ??? (Protocol
Architecture)
????? ??? DP ???? ??? 3 ?? 7 ???????
????? ????? ??? FMS ???? ??? 3 ?? 6 ???????
????? ???? 7???? FMS,LLI (Lower Layer
Interface) ??? FMS????? ????? ?? ????????
??????? Master/Master ?? Master/Slave LLI
???? ???????? ?????? ?????? ???? ????? ??? FMS
?? ???? 2
46

• ???????? ?????? ????
• Transmission Technology

47
???????? ?????? ???? ?? ????? ???
Profibus Transmission Technology
RS-485 ????????? ???????? ?????? ???? ?? ?????
??? ?????? ???? ?? ???? ?? ??? ???
??????? 32??????? ???? ???? ?? ????? ?????(126
??????? ?? ????? ?????) ???? ?????? ?????????
?? 9.6 ?? 12000???? ??? ?? ????? ??? ???? 1?
100??? ?? 1200 ???
48
???????? ?????? ???? ?? ????? ???
Profibus Transmission Technology
49
RS-485

• Linear bus
• Number of stations
• 32 stations without
• repeaters up to 127
• Shielded, twisted pair cable.
• Plug connectors
• 9-pin D sub plug connector

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???????? ?????? ???? ?? ????? ???
Profibus Transmission Technology
IEC 1158-2 - ???? ?????? ???? 31.5kbit/s
?? Process Automation - ?????? ???? ?? ?????
???? ???? - ???????? FISCO Model (Fieldbus
Intrinsically Concept) ?? ?????????? IEC 1158-2
?? ????? ??? ?? ??????? ??? ?????? ??????
-32??????? ???? ???? ?? ????? ?????(126
??????? ?? ????? ?????)
51
(No Transcript)
52
???????? ?????? ???? ?? ????? ???
Profibus Transmission Technology
???? ???? Fiber Optic ?????? ?? ???????? ??
????? ?????????????? ???? ?????? ?? ???? ??
?? ??? ???? ???? ???? ???? Type of fiber
Properties Multimode glass fiber Medium distance
range 2 3 km range Monomode glass fiber Long
distance range, gt 15 km range Synthetic fiber
Short distance range, gt 80 km range PCS/HCS
fiber Short distance range, gt 500 m range
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• ????? ??? ???? ????? ??? DP
• Profibus-DP Basic Characteristic

54
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
- ????? ??? ???? ????? ??????? ?? Field
Level - ?????? ??????? ????? ?????????-????PLC/P
C? ???????? ?????-?? ??????? ?????
???Field-????I/O? ?????? ????????????? ??????
????...-?? ??? ????? ?? ???? ???? ? ?? ???? ??
???? ?? ? ????? ?? ???? - ????? ????? ??????
????? ????? ?? ??????? ?????? Field?? ??? acyclic
?? ??? ????? ???? ?????????? ? ??????
???????... - ?????? ????DP ?? ????
?????????EN50170
55
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
1-???? ????? - ???? ?? ???? 1 msec ??12Mbit/s
???? ?????512bits ?? ??????? ????? ? ????? ?????
??? ??? 32 Stations ??? ??? ???? ????? ??????
??????? DP???? ?? ?????????????? ? ???? ?????? ??
???? ?? ???
56
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic

57
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
2- ???? ???? ????? ? ??? ??????? System
Configuration Types of Devices ???? ????
????? ??? ??????? - Mono-Master - DP-Master
Class1(DPM1) - Multi-Masters - DP-Master
Class2(DPM2) - Slave
58
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
Cyclic Communication Concept ????? ??????
????? - ?????? ?????(Master)??????? ????? ??
?? Slave?? ???? ????? ?????? ? ??????? ????? ??
??? ???? ????? ??? ???? ?? ????? - ???? Bus
Cyclic ???? ???? ?? ???? Program Cyclic
????(?????? 10ms) - ?????? ?????????? ????? ????
??? ?? ?? ??? Master,Slave
59
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
???????? ????? ???? ??? ???? ?????
acyclic Send Data with/without Acknowledge
????? ???? ??/???? ???? ????? Send and Request
Data with Reply ????? ???? ????? ?? ????
???? ????? Cyclic (polling)
?????(????? ??)
60
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic

61
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic

Cyclic Data Transmission in DP
62
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
??? ??????? - DP-Master Class1(DPM1) ????????
? ????? ?? ?????? ????? ? ?????? ???????
Slave?? - DP-Master Class2(DPM2) ???? ???????
?????? ? ????? ??????? ???? ???????? ???????
????? ???????? ?????? ? ????????? ? ????? ?????
??????? - DP-Slave - ???? ??????? I/O?HMI?
??????????????????
PLC
PC
63
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
?? ??????? ???? ???? ????? ????? ????? ?????
??? ??? - ????? Station ??? ???? ????? ??
Bus - ????? ??? ???? Station ?? ? ???? I/O ?? -
???? ???? - ???? ?????????? ???? ???????
64
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
Mono-Master - ???? ???? ???? ?? Master
??? ??? ?? ??? ????? ?????? - ????? ?????????
Cyclic Time Mono-Master - ????? ??? Master
?? ?? ??? - ????? ??? ???????? ????? Mono-Master
? ?????? ?? ??
65
Bus Access

• Mono Master
• Master / Slave
• Multi Master
• (IEEE 802.4)
• PEER to PEER

66
DP Mono-Master System
Master (Class 1)
Master (Class 2)
Central Controller exchanges data with the
distributed peripherial devices
Engineering tool is used for setup/configuration
of the slaves
PLC
PROFIBUS
Slaves
Analog or digital peripherial devices such as
I/O, drives, transmitters, valves or operator
terminals
67
DP Multi-Master System
DP Multi-Master systems consist of - multiple
Masters (class 1 or 2) - 1 to max. 124
DP-Slaves - max. 126 devices on the same bus
Several DP-Masters may access a DP Slave with
read functions but only one Master may write to a
slave
DP-Master (class 2)
PC
PLC
DP-Master (class 1)
DP-Master (class 1)
PROFIBUS
Distributed inputs and outputs
Distributed inputs and outputs
DP - Slaves
68

• ?????? ?????
• System operation

69
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
????? ??????? ????? System Behavior
- Stop ??? ????? ???? ??? DPM1 ? Slave?? ?????
??? ???? - Clear DPM1 ??????? ????? ?? ??
Slave?? ?? ????? ???????? ?? ?? ???? ???? ??
???? -Operation DPM1 ?? ??? ?????? ???????
???(?????? ? ?????) -Auto-Clear ??? ?????
????? ?? ???? ???? ??????(??? ????? ??? ??
Slave??) ??DPM1???? ??????? ?? ?? ??? ????? ??
???? Fail-Safe???? ?? ????
70
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
???? ??? Data ?? ????? ??? - ????? ???
Slave?? ?? ????? ??????? ?????? ????? ??? ??
??? - ??? ??????? ?? ???? ?????-????? ????? ??
???? - ??Data Block ?? ????? ????? 256 ????
????? ????
71
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
72
?????? ???? ????? ???DP Profibus-DP
Basic Characteristic
73

• ????? ??? ???? ????? ??? FMS
• Profibus-FMS Basic Characteristic

74
?????? ???? ????? ???FMS Profibus-FMS
Basic Characteristic
- ????? ??? ???? ????? ??????? ?? Cell
Level - ?????? ??????? ????? ????????? PLC/PC
?? ?????? - FMS Application Layer(7) - ?????
FMS??? ??????? ?? ?????MMS ?? ???? ?????????
ISO9506 ??? ?? ???? ?????? ??????? ????? ?????
?????? ???
FMS
LLI
75

• ????? ??? ???? ????? ??? PA
• Profibus-PA Basic Characteristic
• - ????? ??? ??? ??????? ????? ??? ?? ???????
  ??????? ????? ?????????
• - ????? Profibus-DP

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Control system
Engineering Tool
RS-485 or Fiber Optic
PROFIBUS-DP
IEC 61158-2 (MBP_IS)
I
PROFIBUS-PA
transmitter
Segment- coupler/Link
24V power
77

• ?????? ???????
• Device Engineering

78
Device Engineering
- ????? GSD -?????? ?????? ???????
??????? ????? ??? ?? ??? ???? ??? ?????
?????????? - ???????GSD ???? ????? ???????
????? ??? ???? ???? ?????? ???? ? ????? ????
79
Device Engineering
GSD ?? ?? ???? ???? ???? ???? ???
1-General Specification??????? ????? ??
?????????? ??????????? ??????? ? ??? ????????
???????????? ?????? ???? ?... 2-Master-related
Specification ???? ??????? ?? ???? ???????????
????????? ???? slave??? ???? ????? ??
Master... 3-Slave-related specification ????
??????? ?? ???? ??????????? ????????? ? ???
????????I /O ...
80
GSD files permit open configuration
Standardized electronic data sheets are used to
permit open, vendor- independent configuration

• GSD-Files contain the
• communication parameters
• EDD-files contain the
• application parameters

Bus Configuration
PROFIBUS Configuration tool
PLC
PROFIBUS
A library with GSD files of PROFIBUS devices is
available online at www.PROFIBUS.com
81
Profibus Siemens Example
82
PROFIBUS Example (Siemens Company)
SIEMENS S300 PLC
PROFIBUS DP
DI
DO
Proximity Sensor
Binary Counter
83
Siemens PLC with two slaves
WINblock, 8DI
WAGO, 4DO
84
The PROFIBUS station address
85
DP Configuration in Step7
86
PROFIBUS stations in the Step7 Hardware catalog
87
PLC-addresses - WAGO node
88
PLC-addresses WINblock node
89

• ??????
• Comparison

90
The Benefits

• Commercial Benefits of Ethernet
• High security
• Flexible Architecture
• Multiple Application Support
• Enterprise wide Data Access
• High Bandwidth
• Low Cost

91
Profibus in comparison with 4..20
92
Cost Savings with Profibus
Pressure transmitter
Temperature transmitter
93
Cost Savings with PROFIBUS
94
20 savings in cabling costs, e.g.
Cables and cable racksAuxiliary terminal boxes
and jumpering panels SwitchroomsInstallation
time
95

• ?????? ?????? ????? ???
• 1-ProfiNet
• 2-Profisafe

96
PROFINET CONCEPT
Engineering, HMI
Ethernet
Intelligent field device
Programmable controller
Proxy
PROFIBUS
Engineering,HMI
Field Device
Drive
PROFIBUS and PROFINET are two complementary
parts of PROFIBUS International automation
technology
97
PROFINET CONCEPT
98

• ????? PROFISAFE
• ???? ?? ??? ?? ????? ??????? Fail-Safe ????Push
  Buttons ????? ???????...?? ???? ????? ??? ??DPM1
  ???? ?? ????

99
PROFIsafe and IEC 62061
PROFIBUS DP PROFINET IO
100
Reference

• DCSmIndustrial Network Principles,
  Dr.S.H.Sabzpoushan,Dr.M.Jahed
• www.fieldbus.org
• www.profibus.com
• www.iec.ch
• www.interbusclub.com
• www.nfpa.org
• www.odva.org
• www.phoenixcon.com
• www.pilz.com
• www.roboticsonline.com
• www.rockwellautomation.com
• www.safetybus.com
• www.tuv.org

101

• Special thanks
• For
• Your Attention