Profinet Irt MRPD v1 1 en

Bumpless Media Redundancy with
PROFINET IRT (MRPD)

SIMOTION & SINAMICS
Application description March 2013
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MRPD
Version 1.1, Article ID: 60441190
SIEMENS
SIMOTION & SINAMICS

MRPD
Problem
Solution
Basics
Configuration
Commissioning the
application
Operating the application
Contact
History
Copyright
Application description
MRPD
Table of contents
Warranty and liability

Note
The application descriptions in this document are not binding and do not claim to
be complete regarding configuration, equipment, and any eventuality. Die
Applikationsbeispiele stellen keine kundenspezifischen Lsungen dar, sondern
sollen lediglich Hilfestellung bieten bei typischen Aufgabenstellungen. You are
responsible for the proper operation of the described products. These application
examples do not relieve you of your responsibility regarding the safe handling
when using, installing, operating, and maintaining the equipment. By using these
application examples, you agree that Siemens cannot be made liable for
possible damage beyond the mentioned liability clause. We reserve the right to
make changes and revisions to these application examples at any time without
prior notice. If there are any differences between the suggestions made in these
application examples and other Siemens publications, such as catalogs, the
contents of the other document(s) take priority.
We do not provide a warranty for any of the information contained in this document.
We accept no liability for any damage or loss caused by the examples, information,
programs, planning data, or performance data described in this application
example, irrespective of the legal basis for claims arising from such damage or
loss, unless liability is mandatory. For example, according to the product liability
law, in cases of malfeasance, gross negligence, due to endangerment of life, body
or health, due to assumption of a guarantee for a product's characteristics of state,
due to malicious concealment of a defect or due to violation of basic contractual
obligations. Any compensation for violation of basic contractual obligations,
however, shall be limited to the foreseeable damage or loss which is typically
envisaged in contracts unless there has been gross negligence or unless liability is
mandatory due to endangerment of life, body, or health. This does not entail a
change in the burden of proof to your disadvantage.
Copyright
Any form of duplication of these application examples or excerpts hereof is not

permitted without the express consent of Siemens Industry Sector.
MRPD
Table of contents
Table of contents
Warranty and liability ............................................................................................... 4
1
Problem........................................................................................................... 6
1.1
Solution........................................................................................................... 8
2.1
2.2

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HW Config of the SIMOTION controller ............................................ 20

HW Config of the distributed SINAMICS drive .................................. 24
HW Config of the distributed SCALANCE switch .............................. 27
Configuring the PROFINET IRT ....................................................... 29
Configuring the media redundancy (MRPD) ..................................... 34
Configuring the distributed SINAMICS drive ..................................... 37
Configuring the SIMOTION controller............................................... 44
Commissioning the application ................................................................... 47

5.1
PROFINET Communication ............................................................. 12

Device name ................................................................................... 12
Assign device name via HW Config ................................................. 12
Topology-based initialization ............................................................ 14
Device name assignment rules ........................................................ 15
IP addresses ................................................................................... 16
Send clock for IRT communication ................................................... 18
Isochronous mode ........................................................................... 18
Configuration ................................................................................................ 20
4.1
4.2
4.3
4.4
4.5
4.6
4.7
Overview of the overall solution ......................................................... 8

Hardware and software components used ....................................... 11
Basics ........................................................................................................... 12
3.1
3.1.1
3.1.2
3.1.3
3.1.4
3.1.5
3.1.6
3.1.7
Overview ........................................................................................... 6
Startup ............................................................................................ 47
Operating the application............................................................................. 50

6.1
6.2
6.3
6.3.1
6.3.2
Overview ......................................................................................... 50
Testing the bumpless media redundancy (MRPD)............................ 50
Diagnostic of the bumpless media redundancy (MRPD) ................... 51
using HW Config ......................................................................... 51
using user application.................................................................. 54
Contact.......................................................................................................... 57
History .......................................................................................................... 57
MRPD
1 Problem
1.1 Overview
Problem
1.1
Overview
Introduction
To prevent failures (cable or device defect) in an automation system, the MRPD
(Media Redundancy for Planned Duplication) functionality is available as of
SIMOTION V4.3.
MRPD is a procedure for the bumpless media redundancy with PROFINET IRT.
This functionality assumes that the part of the system to be protected against
failures should be arranged in a ring topology.
The bumplessness is ensured by the provider (IO controller) sending the cyclic
data in both directions in the ring with the consumers (IO devices) then receiving
the data twice. The first received message frame is evaluated by the consumer; the
second message frame is discarded.
Overview of the automation task

The following figure provides an overview of the automation task.
Fig. 1-1
SIMOTION
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If the ring is now interrupted at one location (e.g. through the failure of a ring node),
the receiving of the cyclic data via the uninterrupted side of the ring is still
guaranteed.
Drive
Switch
PROFINET
MRPD
1 Problem
1.1 Overview
Description of the automation task
A plant is automated with a SIMOTION controller, a drive and a switch via
PROFINET IRT.
The SIMOTION controller specifies the setpoint speed for the drive.
The drive, controller and switch are connected with each other using a ring
topology. The SIMOTION controller continually sends the cyclical data over both
directions of the ring to the drive.
If a connection to the drive is now interrupted (e.g. because of a cable defect), it
can still be reached via the second connection.
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The plant can so further produce bumplessly provided the node required for the
production does not fail itself (controller or drive).
MRPD
2 Solution
2.1 Overview of the overall solution
Solution
2.1
Overview of the overall solution
Schematic diagram
The following schematic figure shows the most important components of the
solution:
SIMOTION
D4x5-2 DP/PN
SINAMICS
CU320-2 PN
DMM
SLM
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SCALANCE
X204 IRT
PROFINET
In this application example, the MRPD (Media Redundancy for Planned

Duplication) functionality is displayed via PROFINET IRT.
The SIMOTION controller, the SCALANCE switch and the SINAMICS drive are
arranged in a ring and connected with each other.
The SCALANCE switch acts as redundancy manager; the SIMOTION controller
and the SINAMICS drive act as redundancy clients.
The SIMOTION controller sends its cyclical data (at setpoint speed) over both
directions of the ring to the SINAMICS drive. It evaluates the first received
message frame; the second received message frame is discarded.
If the ring is now interrupted somewhere, the drive continues to receive at the
setpoint speed of the SIMOTION controller over the second connection that is still
intact. If the connection is restored, message frames are sent again to the drive
over both directions of the ring.
This mechanism ensures a bumpless media redundancy, i.e. no reconfiguration
time is required after opening or closing the ring.
MRPD
2 Solution
Differentiation
This application does not contain a description of:
The general drive functions of the SINAMICS S120
The SIMOTION controller
It is assumed that readers have basic knowledge of these topics.
Required knowledge
It is assumed that readers have basic knowledge of SIMOTION controllers and
SINAMICS drives with SIMOTION SCOUT.
Boundary conditions
1. Safety and MRPD
By default, safety data is transferred via PROFINET RT. MRPD, however,
does not offer any bumpless redundancy for RT data, but only for IRT data.
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In order to guarantee bumpless media redundancy with Safety, the safety data
within the MRPD ring must be transferred as IRT data. The SIMOTION
I-Device-F-Proxy functionality can be used for this purpose. When the F-Proxy
is used, the safety data of the F-CPU is copied from the SIMOTION controller
to the IRT data of the MRPD ring and is also sent redundantly.
The F-CPU can be connected either to a free port of the PROFINET interface
of the SIMOTION configured as I-Device-F-Proxy and is also a node of the
ring, or the second PROFINET interface is used as F-Proxy.
Note
The following link shows how you can configure the I-Device-F-Proxy
functionality on a SIMOTION:
2. MRPD and redundant sync master

There can be a maximum of two Ethernet nodes between one sync master and
one redundant sync master in a MRPD ring.
If the redundant sync master is used, we recommend that it is connected
directly with the sync master.
In case of an interruption in the route between the sync master and the
redundant sync master, the plant initially continues to run smoothly, however
faults may occur when you switch off and then restart the plant if the devices
between the sync master and the redundant sync master differ too much in the
ramp-up time.
MRPD
2 Solution
3. MRPD: Devices operated on a branch

Devices that should be operated on a branch in the MRPD ring must also
support the MRPD functionality.
If this functionality is not supported, the affected devices, such as those on the
second PROFINET interface of the SIMOTION controller, must be operated.
Note
The following link shows an overview of all devices that are supporting the
functionality Media Redundancy (MRP / MRPD):
4. Bumplessness of MRPD
Delayed or incomplete switchovers of MRPD caused, for example, by a
network load that is too high or faults coming/going too rapidly, under
unfavorable conditions, can lead to the PROFINET connection failing even with
activated media redundancy.
For example, with two consecutive faults at different locations in the ring,
smooth operation is ensured only when approx. three seconds lie in between
the two faults.
5. Configuration with a GSD file
Ensure that GSD version V2.3 is used for the configuration of the SINAMICS
drive with GSD file.
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This version also supports the media redundancy procedure (MRPD) in

addition to PROFIsafe and shared device.
The GSD file can be installed as of STEP7 V5.5 SP2 and is contained on the
CF card for the associated CU variant.
Note
Further information as well as the appropriate PROFINET GSD files can be

obtained at the following link:
6. MRP- and MRPD compatible devices in one ring configuration

Merging of MRP- and MRPD compatible devices in one ring configuration is
not allowed! All devices in one MRPD ring configuration have to support the
functionality MRPD.
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MRPD
2 Solution
2.2 Hardware and software components used
2.2
Hardware and software components used

The application has been created with the following components:
Hardware components
Tabelle 2-1
Component
Qty.
MLFB / order number
Note
SIMOTION D455-2 DP/PN
6AU1455-2AD00-0AA0
V4.3.1
SINAMICS S120 CU320-2 PN
6SL3040-1MA01-0AA0
V4.5.0.1
SCALANCE X204 IRT
6GK5204-0BA00-2BA3
V5.0
SIMOTION training case
6ZB2470-0AE00
Standard software components

Tabelle 2-2
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Component
Qty.
MLFB / order number
Note
STEP 7
6ES7810-4CC10-0YA5
V5.5 + SP2 + HF1
SIMOTION SCOUT
6AU1810-1BA42-1XE0
V4.3.1.1
Sample files and projects

The list below contains all the files and projects used in this example.
Tabelle 2-3
Component
Note
60441190_PROFINET_IRT_MRPD_V1_1.zip
Sample project + sources
60441190_PROFINET_IRT_MRPD_V1_1_en.pdf
This document
Supplementary conditions
To configure MRPD, the following software and hardware versions are required.
Table 2-4
Component
Version
Windows
XP or 7 Enterprise Professional
(32-bit and 64-bit)
STEP 7
V5.5 + SP2
SIMOTION SCOUT
V4.3.1
STARTER
V4.3.1 (alternative)
S7 F ConfigurationPack
V5.5 + SP8 (for Safety)
S7 Distributed Safety Programming
V5.4 + SP4 (for Safety)
Firmware for SIMOTION
V4.3
Firmware for SINAMICS
V4.5
Firmware for SCALANCE
V5.0
MRPD
11
3 Basics
3.1 PROFINET Communication
Basics
3.1
PROFINET Communication
In addition to the MAC address and IP address, PROFINET uses additionally a
device name to identify the PROFINET devices. This device name must be unique
within the PROFINET network.
3.1.1
Device name
During the commissioning phase a device name is assigned to each PROFINET
device by the engineering system (HW Config, NetPro, STARTER, SCOUT,
Primary Setup Tool). The device name can be assigned by different ways:
IO-Controller
Engineering Software (HW Config, NetPro, STARTER, SCOUT,

Primary Setup Tool)
By downloading the HW Config
By user program (system function _setNameOfStation() for

SIMOTION)
IO-Device
Engineering Software (HW Config, NetPro, STARTER, SCOUT,

Primary Setup Tool)
From IO-Controller via topology-based initialization
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The device name will be stored in the device (on MMC or CF card). When
replacing this device (e.g. in case of malfunction), this device must be initiated
using the device name of the replaced device. For this step more possibilities are
available:
By plugging the MMC or CF card (if available)
Engineering software (HW Config, NetPro, STARTER, SCOUT,
Primary Setup Tool)
Topology-based initialization by the IO-Controller itself. For this the PROFINET
interface must be in factory settings.
It means the new device can assume the function of the replaced device without
changing the configuration.
3.1.2
Assign device name via HW Config

Open HW Config and select the PROFINET IO-System. Click in menu under PLC
> Ethernet onto Assign Device Name. The dialog assign device name will
appear. All configured device names are in dropdown box listed. All recognized
PROFINET devices via Network interface are shown under available devices.
IO-Controllers are not shown here, because they will get the device name by
downloading the HW Config explicit.
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MRPD
3 Basics
Figure 3-1
1
Mark PN IOsystem
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Figure 3-2
(A)
(C)
(B)
Select the configured device name (A) and select the corresponding device (B) and
click on Assign name (C). The device name will be transferred to the device.
If the device identification is not clear you can activate the flashing of a specified
LED. Select the device and click on Flashing on to activate the function.
Depending on the device type following LED will start flashing:
Table 3-1
Device
LED
SIMOTION
SF-LED
SINAMICS S120
RDY-LED
MRPD
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3 Basics
3.1.3
Topology-based initialization
The device name can be assigned by the PROFINET IO-Controller itself. With the
checkbox Support device replacement without exchangeable medium the
PROFINET feature topology-based initialization is activated. This feature is
activated by default.
Figure 3-3
This properties window will open by double clicking on the PN interface of the
IO-Controller in HW Config.
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Please observe that the PN interface of IO-Device must be in factory settings

to support this function (in this state the interface has the IP address = 0.0.0.0 and
an empty device name = ). To reset the PROFINET interface to factory settings
open HW Config and click on PLC > Ethernet > Edit Ethernet Node > Reset (see
following figure).
Figure 3-4
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MRPD
3 Basics
3.1.4
Device name assignment rules

The device name has to follow the rules of DNS (Domain Name System). Following
possibilities for DNS names are given:
Letters (a..z),
Numbers (0..9) and the signs
Minus (-) and
Dot (.) are allowed.
The dot divides the device name into labels. The device name can include more
labels, for example:
<CPU name>.<Interface number >.<Name of IO-System>
<Interface number>, if the device has more than one PN interfaces available
(e.g. X150)
<Name of IO-System>, optional and configured by HW Config (see Figure 3-5).
Each label must start with a letter and doesnt end with minus or a dot.
Figure 3-5
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The maximum length of one label is 63 characters.
MRPD
15
3 Basics
Observe also following additional rules:
The maximum total length is 127 characters (incl. minus and dot)
The device name may only include lower case. On the device upper case are
replaced through lower case.
Do not use umlauts (, , )
Do not use special characters ! " $ % & / ( ) = ? * ' _ : ; > < , # + | ~ \ } ] [ {
Do not use blanks
The device name does not start with "port-xyz" (x, y, z = 0..9).
Do not use the minus sign on SIMOTION controllers. Up from SIMOTION
SCOUT Version 4.3 this limitation is raised.
3.1.5
IP addresses
PROFINET uses IP addresses for establishing the PROFINET IO communication
and for NRT (Non Real Time Communication e. g. TCP, UDP, S7 communication).
The IP address is also needed to go online to the device. It is recommenced to

assign an IP address to each PROFINET IO-Device during startup of a project
commissions. To do this you have more possibilities:
IO-Controller

Primary Setup Tool)
Download of HW Config, please observe the current active IP address of

the device!
IO-Device
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Primary Setup Tool)
In a PROFINET IO-System it is possible to receive the IP address from the

IO-Controller. This feature is activated by default.
For this a correct working PROFINET connection between IO-Controller and
IO-Device is required and the active device name must be the same as in the HW
Config. Figure 3-6 shows the configuration of a SINAMICS S120. The device with
device name SINAMICS will get the IP address 192.168.0.3 and the same subnet
mask as the IO-Controller.
If the device doesnt receive the IP information from IO-Controller it is maybe not
possible to go online with the engineering software (e. g. Starter or SCOUT). In this
case assign a fixed IP to the device.
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MRPD
3 Basics
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Figure 3-6
The received IP address from IO-Controller is just a temporary address (till next
power OFF/ON of the device). The received address is higher prior as a fixed set
IP address via engineering software.
After power ON the IP address must be received from IO-Controller first. If the
address will not receive, the IP address set by the engineering system or the
default IP address 0.0.0.0 (default setting of the PN interface) will be active.
An IP address assigned by any engineering software is permanently saved.
If you disable the function Assign IP address via IO-Controller the fixed IP
address will be used. The IO-Controller will not assign the configured IP address.
The IP address in the device must be unique. Please observe that the IP
addresses used by PN interfaces (e.g. X150) and the IP addresses of the standard
Ethernet interfaces (e.g. X127) must be in different IP subnets. For example: If you
assign an IP address 169.254.11.23 to the PN interface X150 so the device will
report an error if the standard Ethernet interface X127 is still assigned to
169.254.11.22 (default IP address of X127).
MRPD
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3 Basics
3.1.6
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Figure 3-7
Send clock for IRT communication

The send clock for the IRT communication can be configured to a value
ranging between 250 sec and 4.0 msec.
Up from firmware V4.5 of SINAMICS S120 the minimum send clock time of
the onboard PN interface is 250 sec.
By using the CBE20 the minimum send clock time is 500 sec.
Please refer also to the SIMOTION documentation Communication.pdf

(Chapter 4.2.2.3): Overview of the possible bus cycle clocks.
Up from SIMOTION V4.1 SP1 the send clock of the isochronous PROFIBUS
interfaces must be equal to the servo cycle clock. This also applies to
PROFIBUS Integrated (SINAMICS Intergrated). Maybe the servo cycle clock or
PROFIBUS send clock must be a multiple of the PROFINET IO send clock.
Isochronous applications (e.g. ServoTask) are synchronized to the send clock
or a multiple of the send clock. The cycle reduction is configured in the
SIMOTION SCOUT under Set system cycle clocks.
3.1.7
Isochronous mode
Isochronous mode means that the application (e.g. ServoTask of SIMOTION or
OB6X of SIMATIC) is synchronized with the PROFINET IRT send clock. For this
PROFINET IRT (High Performance = RTC3) is absolutely needed.
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MRPD
3 Basics
With a SIMOTION controller the synchronization of the application with the
communication send clock will be handled as follow:
As Sync-Master the synchronization will be handled automatically, but if the
Sync-Master is configured as IRT I-Device the synchronization must be done
manually like an Sync-Slave
A Sync-Slave must always be synchronized with the send clock. This has to be
done in the StartupTask with following system function:
i32RetValue := _enableDpInterfaceSynchronizationMode(
dpInterfaceSyncMode := AUTOMATIC_INTERFACE_SYNCHRONIZATION
);
If a SIMOTION controller is synchronized it can be checked by the LED SY (X150)

respectively by the green LED on the CBE30 or CBE30-2.
Green flashing = not synchronized
Green continuous = synchronized
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A check of the system variable stateOfDpInterfaceSynchronization =

DP_INTERFACES_SYNCHRONIZED is also possible.
If a SINAMCIS device is synchronized you can check the LED PN (X150)
respectively by the green LED on the CBE20.
Green flashing = not synchronized
Green continuous = synchronized
NOTE
Further information and notes regarding communication via PROFINET IRT can
be also found in the article SIMOTION & SINAMICS: Distributed synchronous
operation and isochronous mode via PROFINET IRT.
MRPD
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4 Configuration
4.1 HW Config of the SIMOTION controller
Configuration
4.1
HW Config of the SIMOTION controller

In the application example, a SIMOTION D455-2 DP/PN with the following
configuration is deployed.
Table 4-1
Action
1.
To create a new project, open the SIMOTION SCOUT engineering system.

Insert a new SIMOTION device.
2.
Select the appropriate SIMOTION hardware platform and version.
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No.
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MRPD
4 Configuration
Action
3.
Create a new Ethernet subnet and assign an IP address.
4.
Configure the connection between the SIMOTION controller and the engineering system.
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No.
MRPD
21
4 Configuration
No.
The device name can be adapted by double-clicking the PROFINET interface (X150).
Pressing the F4 key automatically arranges the available modules in HW Config.

6.
The device name of the PROFINET interface (PNxIO) is D455x2xDPxPN.
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5.
Action
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MRPD
4 Configuration
No.
7.
Action
Open NetPro in order to set the interface of the engineering system.
The yellow connection at the PG/PC station indicates that the engineering system can access
SINAMICS Integrated via S7 routing. Routing tables are automatically generated when saving and
compiling; these must then be saved in the device with a HW Config download.
8.
Deactivate the Set MAC address / use ISO protocol checkbox because the SIMOTION controller
does not support any ISO protocol.
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Double-click the PG/PC interface to open its properties.
Assign a free IP address for the engineering system, e.g.:
9.
IP address:
192.168. 0 . 100
Subnet mask:
255.255.255.
Save and compile the HW Config.
MRPD
23
4 Configuration
4.2 HW Config of the distributed SINAMICS drive
4.2
HW Config of the distributed SINAMICS drive

The SIMOTION controller communicates with a SINAMICS drive
CU320-2 PN configured as follows.
Table 4-2
No.
Action
Drag the SINAMICS CU320-2 PN V4.5 drive to the PROFINET IO system (100).
2.
Assign an IP address and select the existing Ethernet subnet.
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1.
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MRPD
4 Configuration
Action
3.
Double-click the added SINAMICS drive to adapt its device name. The device name of the
SINAMICS drive is S120xCU320x2xPN.
4.
The device name must then be assigned to the SINAMICS drive.

To do this, select the corresponding PROFINET IO system (100).
Open the window for the name assignment via PLC > Ethernet > Assign Device Name.
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No.
MRPD
25
4 Configuration
Action
5.
Select the SINAMICS drive and click the Assign name button to assign the name configured in
the HW Config.
6.
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No.
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MRPD
4 Configuration
4.3 HW Config of the distributed SCALANCE switch
4.3
HW Config of the distributed SCALANCE switch

A SCALANCE X204IRT switch configured as follows is deployed as redundancy
manager.
Table 4-3
No.
Action
Drag the SCALANCE X204IRT V5.0 switch to the PROFINET IO system (100).
2.
Double-click the added SCALANCE switch to adapt its device name. The device name of the
SCALANCE switch is SCALANCE-X204IRT.
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1.
MRPD
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4 Configuration
4.3 HW Config of the distributed SCALANCE switch
Action
3.
The device name must then be assigned to the SCALANCE switch.

To do this, select the corresponding PROFINET IO system (100).
Open the window for the name assignment via PLC > Ethernet > Assign Device Name.
4.
Select the SCALANCE switch and click the Assign name button to assign the name configured in
the HW Config.
5.
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No.
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MRPD
4 Configuration
4.4 Configuring the PROFINET IRT
4.4
Configuring the PROFINET IRT

PROFINET IRT must be activated for MRPD. To do this, the
PN interfaces must be synchronized and the PROFINET topology configured.
MRPD can then be configured.
Table 4-4
No.
Action
Open the PROFINET IO Domain Management in the context menu of the PROFINET interface
(X150) of the SIMOTION controller.
2.
Select the SIMOTION controller, respectively the SINAMICS drive and the SCALANCE switch and
open their properties.
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1.
MRPD
29
4 Configuration
No.
Action
Set the Sync master option as synchronization role for the SIMOTION controller.
Only one sync master is permitted in each PROFINET network.
4.
The SINAMICS drive is parameterized as Sync slave. A sync slave synchronizes itself to the
associated sync master in the PROFINET network.
Ensure that high performance is selected for the IRT options!
5.
The SCALANCE switch is also parameterized as Sync slave.

Also ensure here that high performance is selected for the IRT options!
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3.
Note
IRT "high flexibility" cannot be used for isochronous applications.

Further information can be found at the following link:
RT classes for PROFINET IO
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MRPD
4 Configuration
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No.
Action
6.
The topology must be configured for PROFINET IRT. Open the PROFINET IO Topology in the
context menu of the PROFINET interface of the SIMOTION controller.
7.
For example, the following ports of the devices are connected with each other in order to receive a
ring topology:
SIMOTION port 1
SCALANCE port 2
SIMOTION port 2
SINAMICS port 1
SCALANCE port 1
SINAMICS port 2
Create the connections in the Graphic view of the Topology Editor.
MRPD
31
4 Configuration
Note
A SIMOTION controller or SINAMICS drive may only be inserted in an

MRPD ring as a node with MRPD-capable ports.
For SIMOTION D (drive-based), the first two ports of the PROFINET interface
are marked as ring ports.
For SINAMICS S120 drives, these are ports P1 and P2.
For SCALANCE X200 IRT switches, all ports can be configured as ring ports.
The MRPD-capable ports for SIMOTION controllers and SINAMICS drives are
identified with an "R" in the HW Config.
No.
To operate the SINAMICS drive isochronously, mark it and open the properties of the PROFINET
interface (PN IO).
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8.
Action
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MRPD
4 Configuration
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No.
Action
9.
Switch to the IO Cycle tab and select Servo as isochronous execution level for the SINAMICS
drive.
10.
When using PROFINET IRT, the PROFIBUS send cycle clock of the SINAMICS_Integrated of the
SIMOTION controller must be the same as the servo send cycle clock.
Double-click the SINAMICS_Integrated to open its properties and switch to the Isochronous
Operation tab.
The servo send cycle clock is, for example, 1,000 ms. Adjust the PROFIBUS send cycle clock
accordingly.
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33
4 Configuration
4.5 Configuring the media redundancy (MRPD)
4.5
Configuring the media redundancy (MRPD)

After activation of PROFINET IRT and the configuration of the PROFINET ring
topology, MRPD can now be configured.
Table 4-5
No.
Action
Open the PROFINET IO Domain Management in the context menu of the PROFINET interface
(X150) of the SIMOTION controller.
2.
Change to the MRP Domain tab and mark the SIMOTION controller, respectively the
SCALANCE switch and the SINAMICS drive.
Click the Edit button to specify the associated functions of the nodes in the MRPD ring.
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1.
34
MRPD
4 Configuration
No.
Action
Select the Client function for the SIMOTION controller.
The ring ports are preassigned and cannot be changed subsequently.
The Diagnostic interrupts checkbox can be used to activate specific MRPD diagnostic
messages.
4.
The Client function is also selected for the SINAMICS drive.

The ring ports are also predefined here.
5.
The SCALANCE switch can be configured both as redundancy manager and as client of the
MRPD ring. The ring ports can be freely selected from the four available ports.
Select the Manager (Auto) function.
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3.
Note
SIMOTION controllers and SINAMICS drives support only the Client

function.
The redundancy-manager function required for an MRPD ring can only accept
SCALANCE X200IRT switches.
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35
4 Configuration
No.
Action
7.
Download the SIMOTION controller configuration to the respective device.
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6.
36
MRPD
4 Configuration
4.6 Configuring the distributed SINAMICS drive
4.6
Configuring the distributed SINAMICS drive

The standard configuration of the distributed SINAMICS drive with the SIMOTION
SCOUT engineering system is shown below.
Table 4-6
No.
Action
Go online in the SCOUT project.
2.
Select the following target systems with which an online connection is to be established.
3.
Restore the factory settings on the distributed SINAMICS drive.
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1.
MRPD
37
4 Configuration
Action
4.
Perform the automatic configuration of the drive.
5.
The two motors of the SIMOTION training case are created as servo motors.
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No.
38
MRPD
4 Configuration
No.
6.
Action
Because the blue drive (SERVO_03) does not have any DRIVE-CLiQ interface, after the
automatic configuration, the blue drive must be reconfigured at the SIMOTION training case.
b) Open the configuration of the SERVO_03 drive. For the configuration of the SIMOTION
training case, all windows not shown can be bypassed.
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a) Go offline
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39
4 Configuration
No.
7.
Action
c) Wire the release for the infeed (p0864) with the permanent binector 1.
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d) Select the correct motor type.
40
MRPD
4 Configuration
No.
8.
Action
e) The correct encoder type must also be selected.
f) Close the configuration and save the settings.

g) Go online.
h) Download to the SINAMICS drive.
i) Copy RAM to ROM.
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j) Go offline to make the following settings.
9.
The following parameters of both drives (SERVO_02 + SERVO_03) must be checked after the
automatic configuration. To do this, open the expert list.
Parameters
Description
Value
p0340
Automatic calculation
p0210
Power supply
345 V
p0864
Infeed in operation
p1244[0]
Upper voltage limit for the DC link
401 V
p1248[0]
Lower voltage limit for the DC link
240 V
p1460[0]
P-component for the speed controller (in the sample

project)
0.01 Nms/rad
p1462[0]
Integrator time for the speed controller (in the sample

project)
20 ms
These settings apply only when you are working with a SIMOTION training case!
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41
4 Configuration
No.
10.
Action
Open the message-frame settings in the SINAMICS drive.
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Change the message-frame selection for the two servos from Standard/automatic to
User-defined.
11.
The correct message frames must be selected for the cyclic communication to the CU and to the
two servo motors. Because the Standard telegram 1 does not support any IRT communication,
at least Standard telegram 2 must be selected for SERVO_02 and SERVO_03!
Then match the selection of the message frames with the hardware configuration.
42
MRPD
4 Configuration
Action
12.
A blue tick after the message frames indicates the correct matching with HW Config.
13.
Save and compile the HW configuration.
14.
Go online.
15.
Download to the SINAMICS drive and the SIMOTION controller.
16.
Copy RAM to ROM.
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No.
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43
4 Configuration
4.7 Configuring the SIMOTION controller
4.7
Configuring the SIMOTION controller

The standard configuring of the SIMOTION controller using the SIMOTION SCOUT
engineering system is shown below.
Table 4-7
No.
Go offline.
Create the following IO variables in order to exchange data with the SINAMICS drive.
In the application example, releases in control word 1 (STW1_BlueDrive, STW1_RedDrive) as
well as speed setpoints (NSOLL_BlueDrive, NSOLL_RedDrive) are sent from the SIMOTION
controller to the SINAMICS drive.
The current states in status word 1 (ZSW1_BlueDrive, ZSW1_RedDrive) are sent back from the
SINAMICS drive to the SIMOTION controller where they are evaluated.
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1.
Action
44
MRPD
4 Configuration
No.
2.
Action
In the sample project, the IO_Variables.csv file located in the folder can be imported by rightclicking > Load.
right
mouse click
The "fault" source is contained in the sample project. This source contains three programs that are
called in the particular FaultTask.
The "motionControl" source contains the "pBackgroundTask" program used to control the servos
(releases + speed specification). As the name implies, this program is called in the
BackgroundTask.
These sources can be imported from the "ST_Units" folder of the
"60441190_PROFINET_IRT_MRPD_V1_0.zip" ZIP archive.
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3.
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45
4 Configuration
No.
4.
Action
Several ST-sources can be imported simultaneously.
After the import, the SIMOTION project must be saved and compiled so that the programs are
visible in the execution system.
Open the execution system and add the sample programs to the intended task.
6.
Save and compile the SIMOTION project.
7.
Now go online and download the complete SIMOTION project to the controller.
8.
Copy RAM to ROM.
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5.
46
MRPD
5 Commissioning the application

5.1 Startup
Commissioning the application

The following steps must be performed to commission the project example.
5.1
Startup
Table 5-1
No.
Action
All hardware components specified in Table 2-1 (page 11) are present and have been upgraded to
the required firmware version.
2.
If you want to operate the sample project via a Web browser, you must copy the HTML pages
(*.mbs files) to the CF card. Three options are available for this:
1. Files website for SIMOTION IT DIAG, in which case the following folder structure must be
created.
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1.
2.
3.
4.
user/simotion/hmi/files (all files of the Files website are stored in this folder)
MRPD as folder for
Subcode as folder for the files MRPDControl.mbs, MRPDState.mbs and
javascript.js
MRPD.mbs
FTP
ftp://simotion:simotion@192.168.0.1/USER/SIMOTION/HMI/FILES/
CF card reader, copy the "MRPD" folder and the "MRPD.mbs" file on the CF card to the
"user\simotion\hmi\files" folder
The *.mbs files are located in the ZIP archive
"HTML/MBS" folder.
Alternatively, you can operate the application example from the symbol browser in
SIMOTION SCOUT.
MRPD
47

5.1 Startup
No.
Action
3.
All PROFINET components are networked and accessible from the engineering system.
4.
The Ethernet interface of the engineering system is configured correctly.

IP address:
192.168. 0 .100
Subnet mask:
255.255.255.
Start the SIMOTION SCOUT engineering system.
6.
Unzip the "60441190_PROFINET_IRT_MRPD_V1_0.zip" sample project.
7.
Open the SCOUT project "PN_IRT_MRPD_V1_0".
8.
Open HW Config in order to perform the node initiation.
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5.
Mark the PROFINET line and open the window for the name assignment via PLC > Ethernet >
Assign Device Name.
9.
You can select the configured device names and assign them to the associated device (IO
device).
Note
Only IO devices are listed.
The IO controllers receive the device name when the HW Config is downloaded.
48
MRPD

5.1 Startup
No.
10.
Action
As an alternative, the Primary Setup Tool (PST) can also be used to perform the node initiation.
The PST can be downloaded from the following link.
In the SIMOTION SCOUT, go online to the target systems.
12.
Load the SIMOTION project, including the configuration of the SINAMICS drive, into the target
system. If you cannot go online with the SIMOTION controller, then first load the HW Config into
the SIMOTION device so that it has the correct IP address and device name.
13.
Copy RAM to ROM.
14.
The sample project can now be operated.
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11.
MRPD
49
6 Operating the application

6.1 Overview
Operating the application
6.1
Overview
The sample project is operated either from a website or alternatively from the
symbol browser in SIMOTION SCOUT.
6.2
Testing the bumpless media redundancy (MRPD)

The setpoint speed of the servo is specified by the SIMOTION controller. By
dragging a PROFINET cable, e.g. between the SIMOTION controller and a
SINAMICS drive, the servos do not stop but continue to turn with the specified
setpoint speed. The MRPD functionality makes this possible.
Table 6-1
No.
Action
Open any Web browser (preferably Mozilla Firefox).
Alternatively, you can also operate the sample project from the SIMOTION SCOUT engineering
system (mark source motionControl > symbol browser).
2.
Enter the IP address of the SIMOTION controller in the address line of the Web browser.
The following IP address is configured in the sample project.
1.
IP address:
192.168. 0 .1
Subnet mask:
255.255.255.0
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Change to the MRPD tab on the Users Area page.
Control
The START/STOP buttons are used to control the gboMove global variable and so start or stop
the two servos.
Velocity
The setpoint speeds of the two servos are displayed here.
50
MRPD

6.3 Diagnostic of the bumpless media redundancy (MRPD)
No.
Action
3.
If the two servos turn with the specified setpoint speed of 60 RPM, one connection between the
nodes of the MRPD ring can now be opened.
The servos do not stop because they are now sent the setpoint speeds via the connection of the
MRPD ring that is still operational.
4.
If the ring is opened at two locations, the two communications paths from the SIMOTION
controller to the SINAMICS drive are interrupted and the servos stop.
If the ring is closed again at one location, the application acknowledges the errors pending on the
SINAMICS drive and the servos continue to turn with the setpoint speed.
Note
The application acknowledgement of the drive errors is permitted only in the

sample project!
Also ensure that approx. three seconds must lie in between two successive
"errors" (e.g. the ring is open
the ring will be closed the ring will be opened
at another location) so that the two servos do not stop.
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6.3
Diagnostic of the bumpless media redundancy (MRPD)

After finishing the configuration and commissioning the bumpless media
redundancy (i.e. the ring configuration) can be diagnosed for errors and changes of
status.
Two different possibilities are available to get the relevant information that are
described in the following.
6.3.1
using HW Config
Table 6-2
Nr.
5.
Action
Open HW Config and switch to the online view.
In the online view you will get a summary of the current states of all configured stations.
MRPD
51

Nr.
Aktion
In case of fault the following described symbols report the current states of the stations port by port.
52
MRPD
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6.

Nr.
By double click on the redundancy manager (SCALANCE switch) you will get more details about
the current state of the MRPD ring configuration (Ring opened).
Note
Please observe that the information about the state of the MRPD ring configuration
(Ring opened) is only available at the redundancy manager.
8.
At the concerning interfaces, where the MRPD ring configuration is physically opened, you will
get more detailed information about the reason of the error message. (in the sample Port 1 of the
onboard PROFINET interface X150 of the SIMOTION D455-2DP/PN )
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7.
Aktion
MRPD
53

6.3.2
using user application

To analyze the bumpless media redundancy (i.e. the MRPD ring configuration)
using a user application you have following possibilities:
Analyze the TaskStartInformation (TSI) within the PeripherialFaultTask
Reading the corresponding data record using the SIMOTION system function
_readRecord()
In the following the possibilities for analyzing are shown exemplary.
Please observe following dependencies:
The data record 16#8011 will be read from redundancy manager (SCALANCE
switch). This record is only available if maintenance is demanded.
The diagnostic address of the PROFINET interface for the redundancy
manager must be known (parameter within HW Config).
This diagnostic address will be returned also by the TaskStartInformation
TSI#LogDiagAdr within the PeripheralFaultTask, if the status of the MRPD
ring configuration has changed (Ring opened).
Nr.
Aktion
1.
To determine the diagnostic address of the redundancy manager open the HW Config and select
the SCALANCE switch.
2.
If required the diagnostic address can be changed under the properties of the PROFINET
interface.
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Table 6-3
54
MRPD

Nr.
The determined address can be used in PeripheralFaultTask of the SIMOTION PLC.

In this sample the diagnostic address is used to filter the received messages.
The data record 16#8011 will be read from the redundancy manager to analyze the message in
detail (Ring opened). Up to 100 messages are saved into a ring buffer.
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3.
Aktion
In case of an upcoming event of the redundancy manager you will find the diagnostic data in the
structure sDiagnostic[gi16Counter].au8Data. The information is located within a byte-array and
can be analyzed by using the structure of the data record.
MRPD
55

Note
Please observe that a message will be created in case of an upcoming event as

well as in case of a leaving event.
Only in case of an upcoming events (i.e. Ring opened) detailed data are
located in the structure sDiagnostic[gi16Counter].au8Data.
You will get more detailed information and description about the available data
records in chapter 5 (Records with PROFINET IO) of the manual From
PROFIBUS DP to PROFINET IO.
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56
MRPD
7 Contact
Contact
Siemens AG
Industry Sector
I DT MC PMA APC
Frauenauracher Strasse 80
91056 Erlangen, Germany
E-mail: profinet.team.motioncontrol.i-dt@siemens.com
History
Tabelle 8-1
Date
V1.0
07/2012
First edition
V1.1
03/2013
Revision,
Chapter 3 Basics revised,
Chapter 6.3 Diagnostic of the bumpless media redundancy
(MRPD added
Change
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Version
MRPD
57

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Bumpless Media Redundancy with

PROFINET IRT (MRPD)

Applications & Tools

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SIMOTION & SINAMICS

Operating the application

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Warranty and liability

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Any form of duplication of these application examples or excerpts hereof is not

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HW Config of the SIMOTION controller ............................................ 20

Commissioning the application ................................................................... 47

PROFINET Communication ............................................................. 12

Overview of the overall solution ......................................................... 8

Operating the application............................................................................. 50

Overview of the automation task

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Siemens AG 2013 All rights reserved

Overview of the overall solution

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In this application example, the MRPD (Media Redundancy for Planned

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2. MRPD and redundant sync master

3. MRPD: Devices operated on a branch

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This version also supports the media redundancy procedure (MRPD) in

Further information as well as the appropriate PROFINET GSD files can be

6. MRP- and MRPD compatible devices in one ring configuration

Hardware and software components used

MLFB / order number

SIMOTION D455-2 DP/PN

SINAMICS S120 CU320-2 PN

SCALANCE X204 IRT

SIMOTION training case

Standard software components

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MLFB / order number

V5.5 + SP2 + HF1

Sample files and projects

Sample project + sources

V5.5 + SP8 (for Safety)

S7 Distributed Safety Programming

V5.4 + SP4 (for Safety)

Firmware for SIMOTION

Firmware for SINAMICS

Firmware for SCALANCE

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Engineering Software (HW Config, NetPro, STARTER, SCOUT,

By downloading the HW Config

By user program (system function _setNameOfStation() for

Engineering Software (HW Config, NetPro, STARTER, SCOUT,

From IO-Controller via topology-based initialization

Assign device name via HW Config

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Siemens AG 2013 All rights reserved

Please observe that the PN interface of IO-Device must be in factory settings

Device name assignment rules

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The maximum length of one label is 63 characters.

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The IP address is also needed to go online to the device. It is recommenced to