3Special Features SIMATIC Drive Controller.....543.1Setup of the Cross-PLC synchronous operation................................543.1.1SIMATIC Drive Controller as Master PLC3.12SIMATIC Drive Controller as Slave PLC........5532Clock Synchronization of PROFIdrive Integrated...................53.3Clock Synchronization of the Interface X142..........................56Diagnostics584.1Setting up the Project Trace.................................584.1.1Creating a Project Trace..........584.12Selection of the Signals to be Recorded594.1.3Loading the Trace Configuration into all CPUs.604.14Starting the Recording....24.1.5Display of the Recorded Signals634242.1Selection aid for the signals to be recorded..64422Setpoints of the Master Axis ..........542.3Setpoints of the Slave Axis654.3Interpretation of the Recorded Parameters...........64.3.1Basic procedure.654.32Aim of Checking the Signals..64.3.3Checking the Signals on the "Master-PLC 1511TF"674.3.4Checking the Signals on the "Slave-PLC_1515TF-1"694.3.5Checking the Signals on the "Slave-PLC_1515TF-2"714.3.6Summary…4.4Notes on Setting the Recording Clock724.4.1The Outlet System of the S7-1500(T)24.42Setting the Recording Clock.......734.4.3Remendation for the Diagnosis of the PLC-Integrated755Appendix...5.1Service and support76Links and literature.T75.3Setup and Diagnosis of PLC-Independent SynchronizationArticle1D:109770938,V1.0.11/202041 Fundamentals1Fundamentals1.1Cross-PLC synchronous operation1.1.1AvailabilityCross-PLC synchronous operation is available,as of firmware version V2.8,in alltechnology controllers,and from firmware version V20.8 in the Open Controller ofthe SIMATIC S7-1500T controller family.For all other SIMATIC S7-1500 control-lers,the Cross-PLC synchronous operation is not available.As of firmware V2.8.3.real and virtual axes can be used as master value sourcesfor Cross-PLC synchronous operation in the following controllers:Standard CPUs and Compact CPUs SIMATIC S7-1500(F)Technology CPUs SIMATIC S7-1500T(F)ET 200SP Open Controller:SIMATIC S7-1515SP PC2(T)(F)SIMATIC S7-1500 Drive Controller,e.g.S7-1504D TF or S7-1507D TF.NoteA Cross-PLC synchronous operation can only be set up between controllers thatare configured in the same TIA Portal project and that are connected within thesame PROFINET sub.NoteWith firmware version V2.8,up to and including V2.8.2,only the following stand-ard CPUs can be used as master value sources for Cross-PLC synchronousoperation:SIMATIC S7-1515(F)SIMATIC S7-1516(F)No other standard or pact CPUs can be used as master value sources withfirmware version V2.8,up to and including V2.8.2.1.1.2Operating principleWith Cross-PLC synchronous operation,the master value source (1)and the slaveaxes (2)can be distributed to several controllers.Figure 1-1 Example of a Cross-PLC synchronous operationCPU 2CPU 3PROFINETSetup and Diagnosis of PLC-Independent SynchronizationArticle ID:109770938,V1.0.11/202051 FundamentalsThe munication between the CPUs happens via"direct data exchange"viaPROFINET IO with IRT (Isochronous Real Time).The master value transfer on theCPUs of the slave axes takes place via master axis substitutes using leading axisproxy technology object (3).To ensure that all slave axes move synchronously with each other,the runtime dif-ferences of the master value transfer to the other CPUs are pensated:Local slave axes on the CPU of the master value source(1)receive the mastervalue with a time delay (4)In the leading axis proxy technology object(3),the master value is adjusted intime so that the setpoint output to the slave axes takes place at the same time.Therefore,the setpoint output to the slave axes coupled with the leading axis proxytechnology object takes place simultaneously with the setpoint output to the localslave axes on the CPU that contains the master value source.The local slave axesmust be coupled to the master axis with a"delay"in the master value connection.1.1.3AdvantagesCross-PLC synchronous operation offers the following advantages:By distributing master value sources and slave axes on different controllers,function groups can be formed in a project,which allow for a modular machinestructure.Various topologies are possible for Cross-PLC synchronous operation:Linear interconnection (see Figure 1-1):The master value of a master value source (1)is transmitted simultane-ously to several slave axes (2)on different controllers.Cascaded interconnection(see Figure 1-2):The slave axis(5)connected with a leading axis proxy technology object(3)of a master value source (1)is used as the master axis source foradditional slave axes (6)on other controllers.For the interconnection of the slave axes on the individual controllers,leadingaxis proxy technology object are used,which transmit the master value of themaster value source to the slave axis through the system in a controlledmanner.Within the system,different Motion Control application cycles are taken intoaccount on the individual controllers.All slave axes receive the appropriatemaster value at the same time and are,therefore,synchronous.Figure 1-2 Example of a cascaded Cross-PLC synchronous operationCPU1CPU3/O6PROFINETSetup and Diagnosis of PLC-Independent SynchronizationArticle ID:109770938,V1.0.11/20201 Fundamentals1.2Leading axis proxy technology objectThe leading axis proxy technology object is a technology object that is available inall SIMATIC S7-1500T technology controllers with firmware version V2.8 and high-er,or in the Open Controller from firmware version V20.8 and higher and providesthe master value of the master value source from another controller for the slaveaxes in the technology controller.Figure 1-3 Functional principle of the leading axis proxy technology objectCPU1CPU 2Technology objectTechnology objectPositioning axisLeading axis proxySynchronous axisLeadingSynchronousvalueoperation functionLeadingSetvaluepositionPositionTemporalPositionadaption+controlcontrolActualSpeedActualSpeedpositionsetpointpositionsetpointCommunicationCommunicationCommunicationLeading valuetelegramPROFINETIn the leading axis proxy technology object,the master value of the master valuesource from another controller is adjusted in time so that the setpoint output of allslave axes involved in Cross-PLC synchronous operation takes place at the sametime.1.3Time Compensation1.3.1BackgroundWith Cross-PLC synchronous operation,the munication between the control-lers and the different Motion Control application cycles in the individual controllersresults in a delay that is pensated for by time pensation.1.3.2System-Side Time CompensationThe delay is pensated for with the following functions:Master value delay for local slave axes,i.e.,for slave axes on the controllerwhere the master value source is also located.Setup and Diagnosis of PLC-Independent SynchronizationArticle ID:109770938.V1.0.11/20201 FundamentalsInterpolation or extrapolation of the master value in the leading axis proxytechnology object by the system on the controller of the slave axis.If the master value delay is set too low or not configured,the master value isextrapolated in the leading axis proxy technology object.If the configuredmaster value delay is too large,the master value is interpolated in the leadingaxis proxy technology object.The delay time taken into account by the system can be calculated automaticallyby the TIA Portal or,in special cases or for expert applications,can be specifieddirectly in the TIA Portal.However,the specification of a delay time is not abso-lutely necessary.All slave axes receive the appropriate master value at the actual time of pro-cessing,even if the user has not made any settings to pensate for the timeoffset.NoteEven if the setting of a master value delay time is not absolutely necessary for asynchronous coupling,the specification or automatic calculation of this time isstrongly remended.If the master value delay time is specified,no extrapolation or only a slightextrapolation of the master value must be carried out in the leading axis proxytechnology object,thereby avoiding deviations of the master value at the leadingaxis proxy technology object with respect to the master value source duringacceleration and braking processes of the master axis.1.3.3Determining the Delay TimeThe system-side time pensation can be calculated and set automatically by theTIA Portal in the Connection Overview after pletion of the configuration.Thesystem is then optimally configured.The following formulas are used for the automatic calculation:Calculating the delay time for linear connectionThe following formula is used to calculate the master value delay of Cross-PLCsynchronous operation with linear interconnection (see Figure 1-1):Master value delay(4)=2 x application cycle time of the CPU of the leading axisproxy technology object (3)with the longestapplication cycle time.Calculating the delay time for cascaded connectionThe following formula is used to calculate the master value delay of Cross-PLCsynchronous operation with cascaded interconnection (see Figure 1-2):Master value delay(4)=2 x application cycle time of the CPUwith the master value source for thenext cascade (here,CPU 2)+2 x application cycle time of the CPU of thenext cascade (here.CPU 3).The master value delay for the local coupling to the master value source for thenext cascade (here,in CPU 2)uses the following formula:Master value delay =2 x application cycle time of the CPU of thenext cascade (here,CPU 3).Setup and Diagnosis of PLC-Independent SynchronizationArticle ID:109770938,V1.0.11/202081 FundamentalsThe delay time for the leading axis proxy technology object for the next cascade iscalculated with the following formula:Delay time =2 x application cycle time of the CPU of thenext cascade (here,CPU 3).NoteIn the case of cascaded connections,the delay time must be calculated from thelast cascade in order to be plete.1.3.4Lead value interconnectionWhen configuring the connection with the master value source,the delayedsetpoint can be selected for Cross-PLC synchronous operation with local slaveaxes in addition to the previous selection of the setpoint or actual value.The following principle generally applies to the master value connection:Local slave axes on the CPU of the master value source(2)must beconnected via the coupling type "Delayed"(4)so that the (automatically)configured master value delay time is effective.Distributed slave axes(6)are directly connected to the leading axis proxytechnology object.In the case of cascaded connections,i.e.,a slave axis of a leading axis proxytechnology object provides a PLC-spanning master value,a virtual axis(5)must be connected immediately.The master value of this virtual slave axis isdistributed to the next cascade by master value telegram (7).Local slave axes are connected to this virtual master axis with a time delay(8).Figure 1-4 Interconnection with cascaded PLC-integrated synchronizationCPU1CPU2CPU3OPROFINET1.4Direct Data Exchange1.4.1FunctionThe direct data exchange between SIMATIC controllers is based on controller-controller munication (3\)in the SIMATIC.A SIMATIC S7-1500(T)controller can provide one or more SIMATIC S7-1500(T)controllers with clock-synchronous user data from its peripheral data area (1/O).A data area of 48 bytes in length is used for the data exchange of the Cross-PLCsynchronous operation.This data area is located in the peripheral area of theSetup and Diagnosis of PLC-Independent SynchronizationArticle ID:109770938,V1.0.11/202091 FundamentalsSIMATIC and is made available to the SIMATIC as a transfer area for controller-controller munication.NoteIf additional user data,such as control information or status information of thetechnology objects,will be transferred to other SIMATIC controllers of the Cross-PLC synchronous operation,it is remended to set up a separate transferarea for a clear separation and better clarity.Note the maximum quantity structures for direct data exchange:Maximum data volume for direct data exchange:3075 bytes (with administration)Maximum amount of data per transfer area:1024 bytes (without administration)Number of transfer areas:128(transmitter).512(receiver-from a maximum of 64CPUs)Source:"PROFINET with STEP 7 V16"function manual (\3\)1.4.2Clock synchronicityA requirement for the direct data exchange(controller-controller munication)between the SIMATIC controllers in connection with the Cross-PLC synchronousoperation is the setting of the clock-synchronization based on PROFINET IRT.Since munication between the technology objects of a controller and theassociated drives is usually also clock-synchronous,this requirement shouldalmost always be met for Motion Control applications.NoteFor all controllers involved in Cross-PLC synchronous operation,the OB"MC-Servo must be synchronized to the PROFINET interface for data ex-change.Only then can it be guaranteed that the data to be transmitted is madeavailable in a consistent manner.The setting option shown in Figure 1-5 can be accessed via the properties dialogfrom the context menu for the OB "MC-Servo".Figure 1-5 Synchronization of the OB "MC-Servo"to the PROFINET bus systemGeneral TextsGeneralCycle timeCompilstionProtectionSource of the send clock:PROFINET O-System (100)Factor:Setup and Diagnosis of PLC-Independent SynchronizationArticle ID:109770938,V1.0.11/2020101 Fundamentals1.5Network configuration1.5.1RequirementsWhen setting up the work configuration for Cross-PLC synchronous operation,the following points must be observed:The entire work configuration is located in the same TIA Portal project,sothat direct data exchange can be configured.All controllers and devices involved in data transmission or data processing areconnected within the same PROFINET sub.1.5.2Use of Network SwitchesAdditional switches can be used when building different work topologies.Whenselecting the switches,ensure that they support clock-synchronous datatransmission (PROFINET IRT).Line TopologyAs an example of a line topology,the connection of the ponents via thePROFINET switches integrated in the SIMATIC controllers and the SINAMICSdrives is shown here;these are hidden behind the two PROFINET sockets presentin the device.The integrated PROFINET switches of all controllers of the SIMATIC S7-1500(T)family,and all SINAMICS drives that can be operated clock-synchronously,supportclock-synchronous data exchange.Figure 1-6 Example of a line topology using the integrated switchesNoteA switch with three PROFINET IRT ports (interface X150)is already integrated inthe SIMATIC Drive Controller.Star topologyWhen building modular machine concepts,additional switches are often used toimplement a star topology of the work.In this way,each ponent of themodularized machine can be connected to the switch of the central star center withonly one PROFINET cable.When selecting this switch,it must be ensured that itsupports clock-synchronous data exchange via PROFINET IRT.Setup and Diagnosis of PLC-Independent SynchronizationArticle ID:109770938,V1.0.11/2020111 FundamentalsFigure 1-7 Example of a star topology with SCALANCE switch中As an example of IRT-capable switches of the SCALANCE family,some modelswith several PROFINET ports are shown here that can be used as the central starpoint of a star topology.Table 1-1 Examples of IRT-enabled switches in the SCALANCE familySwitchDescriptionSeries:Scalance X-200IRT managed6GK5200-4AH00-2BA3SCALANCE X200-4PIRT managed IE IRT switch,4x 100 MbpsPOF SC RJ ports,error message contact with set button,redundant power supply,PROFINET IO device,workmanagement,integrated redundancy manager,C-PLUG optional6GK5204-0BA00-2BA3SCALANCE X204IRT.managed IE IRT switch.4x 10/100 MbpsRJ45 ports,error message contact with set button,redundantpower supply,PROFINET IO device,work management,integrated redundancy manager,C-PLUG optional.Series:Scalance XF-200IRT managed6GK5204-0BA00-2BF2SCALANCE XF204IRT,flat,managed IE IRT switch,4x 10/100Mbps RJ45 ports,error message contact with set button.redundant power supply.PROFINET IO device.workmanagement,integrated redundancy manager,C-PLUG optional.Setup and Diagnosis of PLC-Independent SynchronizationArticle ID:109770938,V1.0.11/202012