PROFIdrive System Description

Technology and Application

Contents

List of Figures. . . . . . . . . . . . . . . . . . II 6. Additional profiles . . . . . . . . . . . . . 14

6.1. PROFIsafe. . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Introduction. . . . . . . . . . . . . . . . . . . 3 6.2. PROFIenergy. . . . . . . . . . . . . . . . . . . . . . . . . 15
Notes on Content. . . . . . . . . . . . . . . 4 7. Mapping to PROFIBUS and
1. Overview . . . . . . . . . . . . . . . . . . . . . . 5 PROFINET. . . . . . . . . . . . . . . . . . . . . . 16
7.1. Mapping to PROFIBUS DP . . . . . . . . . . . . 16
1.1. Standardization. . . . . . . . . . . . . . . . . . . . . . 5
7.2. Mapping to PROFINET IO. . . . . . . . . . . . . 16
1.2. Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3. Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 8. Conformity and certification . . . . 17
1.4. Energy efficiency. . . . . . . . . . . . . . . . . . . . . 6 8.1. Quality control through certification. . 17
8.2. PROFIdrive certification. . . . . . . . . . . . . . 18
2. PROFIdrive base model. . . . . . . . . 6
2.1. Device classes. . . . . . . . . . . . . . . . . . . . . . . . 6 9. PROFIdrive implementation. . . . . 18
2.2. Object model in the P device . . . . . . . . . 7
2.3. Communication services . . . . . . . . . . . . . 7 10. Engineering. . . . . . . . . . . . . . . . . . . . 20
2.4. PROFIdrive services. . . . . . . . . . . . . . . . . . 8
11. User benefits. . . . . . . . . . . . . . . . . . . 20
3. PROFIdrive parameter model . . . 9
12. PROFIBUS & PROFINET
3.1. Profile-specific parameters . . . . . . . . . . . 10
International (PI) . . . . . . . . . . . . . . . 21
3.2. Vendor-specific parameters. . . . . . . . . . . 10
Space for your notes. . . . . . . . . . . . 23
4. PROFIdrive application model. . . 10
4.1. Application classes. . . . . . . . . . . . . . . . . . . 10
4.2. Additional functions. . . . . . . . . . . . . . . . . . 12

5. Diagnostics. . . . . . . . . . . . . . . . . . . . 13
5.1. Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5.2. Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5.3. Integration into standard diagnostic
mechanisms. . . . . . . . . . . . . . . . . . . . . . . . . 14

PROFIdrive System Description I

 List of Figures
Fig. 1: Architecture of PROFIdrive . . . . . . . . . . . . . 5 Fig. 15: Integration of drive-based safety in
Fig. 2: General PROFIdrive drive application the drive device. . . . . . . . . . . . . . . . . . . . . . . . 15
model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Fig. 16: Starting points for energy savings
Fig. 3: Device classes and their in the field drive technology. . . . . . . . . . . . 16
communication relationships. . . . . . . . . . . 7 Fig. 17: Mapping of base model to
Fig. 4: Data model and data flows in a drive PROFIBUS DP . . . . . . . . . . . . . . . . . . . . . . . . . . 16
axis or PROFIdrive drive object (DO) . . . . 7 Fig. 18: Mapping of base model to
Fig. 5: Process synchronization in PROFINET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
isochronous mode. . . . . . . . . . . . . . . . . . . . . 8 Fig. 19: Procedure for obtaining a certificate. . . . 17
Fig. 6: Basic state machine of a PROFIdrive Fig. 20: Conformity test with the PROFIdrive
drive axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Profile Tester. . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Fig. 7: Application class 1 . . . . . . . . . . . . . . . . . . . . . 11 Fig. 21: How the Community Project works . . . . . 19
Fig. 8: Application class 2 . . . . . . . . . . . . . . . . . . . . . 11 Fig. 22: Contents and benefits of the Community
Fig. 9: Application class 3 . . . . . . . . . . . . . . . . . . . . . 11 Project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Fig. 10: Application class 4 und 5. . . . . . . . . . . . . . . 12 Fig. 23: Easy engineering of drive integration
Fig. 11: Application class 6 . . . . . . . . . . . . . . . . . . . . . 12 using TCI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Fig. 12: Dynamic servo control (DSC) Fig. 24: PROFIBUS & PROFINET
concept. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 International (PI). . . . . . . . . . . . . . . . . . . . . . . 21
Fig. 13: Fault buffer mapping to profile
parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Fig. 14: PROFIdrive diagnostic functions. . . . . . . . 14

II PROFIdrive System Description

Introduction
In the dynamically developing industrial communi- The tasks performed by drives and thus the requi-
cations arena, automation is continuously evolving. rements for the drive technology vary considerably,
Initially, automation focused exclusively on the depending on the particular industry and/or field
production operation, but now it is part of a network of application. These include:
that goes beyond the automation task itself to
include service and maintenance, warehousing, • Drives with fixed and variable speed, such
resource optimization, and the provision of data as pumps, fans, compressors, and drives for
for MES and ERP systems, as well as edge and cloud transport tasks
service. A driving force for this trend has been and • Single-axis positioning controllers for
continues to be fieldbus technology, which has applications, such as moving, adjusting and
facilitated migration from centralized to decentra- positioning
lized automation systems and supports the use of • Servo drives with central interpolation, such
distributed intelligence. Ethernet-based communi- as those found in machine tools, robots and
cation systems provide a link between automation production machines
technology and information technology, thereby
With such a diverse range of requirements, a
enabling system-wide communication from the
technology that is flexible as well as adaptable to
field level up to the corporate management level.
future requirements is needed to serve as the basis
Industrial communication systems in particular for efficient implementation into products. As a
have to be capable of meeting the requirement for general principle, drives can be controlled very
an integrated approach. PROFIBUS and PROFINET easily using the digital drive interface with all its
represent solutions that combine full integration functions. The way in which this communication
with a high level of application orientation. With connection is modeled is irrelevant when it comes
its standard protocol, PROFIBUS communication to any individual drive. Existing products can be
takes in all system components from machines upgraded by simply transferring the device and
and production and process automation to communication models already in the drive to
safety-related communication and drive/motion PROFIBUS and PROFINET. But products can only be
control applications, and provides the ideal basis replaced with products of the same manufacturer
for ensuring horizontal automation system integ- or the same product family. For a drive user, it is also
ration. PROFINET also features a standard protocol important to be able to select from drives made by
which, in addition to horizontal communication, various manufacturers having an identical commu-
also supports vertical communication from the nication interface in order to use the optimum
field level up to the corporate management level. product for the particular application.
Both communication systems facilitate crosssector,
This is only possible with a standardized drive
networked, integrated solutions that are optimized
interface such as PROFIdrive for PROFIBUS and
for each automation task.
PROFINET. This application-oriented profile, which
The main reason why PROFIBUS and PROFINET has been standardized in IEC 61800-7, contains
stand out from other industrial communication standard definitions (syntax and semantics) for
systems is because they offer such an extraordinary communication between drives and automation
range of applications. Not only have application- systems for PROFIBUS and PROFINET, thus assuring
specific requirements been implemented into appli- vendor neutrality, interoperability, and investment
cation profiles, but these applications have also protection.
been combined to create a standardized and open
The PROFIdrive application profile represents the
communication system. This provides the basis for
flexible and future-proof foundation for all drive
ensuring outstanding investment protection for
systems in industrial automation engineering. It
both users and manufacturers.
defines the device behavior and the process for
Drive technology represents one of the most accessing drive data of electric drives on PROFIBUS
important applications within industrial and PROFINET and also optimally integrates the
automation. According to the Federal Environment additional PROFIsafe and PROFIenergy profiles.
Agency, electric drives in industry and commerce
consume almost two-fifths of all electricity in
Germany and around 80 percent of it in these two
sectors.

PROFIdrive System Description 3

 Notes on Content
This document describes all essential aspects of Chapter 7 describes how the PROFIdrive profile is
PROFIdrive technology and provides additional mapped to PROFIBUS and PROFINET.
information on implementation and certifi-
Chapter 8 outlines the test procedure for obtaining
cation. Its objective is to provide a comprehensive
a certificate.
description of the drive profile of the PROFIBUS
and PROFINET communication systems without Chapter 9 provides guidance on how to implement
entering into too much detail. the PROFIdrive interface.
This system description not only offers sufficient Chapter 10 briefly describes the engineering.
information to readers with a basic knowledge who
are interested in obtaining an overview, but it also Chapter 11 explains the advantages of using
introduces experts to more extensive specialized PROFIdrive.
literature. In this regard it must also be noted that,
Chapter 12 concludes the document with
despite the care taken in preparing this document,
information on the mode of action and internal
the normative PI (PROFIBUS & PROFINET Inter-
structures of PI.
national) documents alone are authoritative and
binding. In the interest of ensuring clarity and because they
are distributed throughout the world, official PI
Chapter 1 provides an introduction to how the
documents are drafted exclusively in English.
PROFIdrive profile came about and the principles
according to which it is structured.

Chapters 2 to 6 deal with the core aspects of

PROFIdrive and any repetition of the subject matter
that appears in Chapter 1 is intentional for reasons
of completeness.

4 PROFIdrive System Description

1. Overview 1.1. Standardization
At the initiative of the ZVEI working group "PG
PROFIdrive is the standard profile for drive
Antriebsschnittstelle", a project was initiated within
technology in conjunction with the PROFIBUS
the IEC for the purpose of specifying a standardized
and PROFINET communication systems. The use
drive interface that could be integrated in an inter-
of open "application profiles" is a tried-and-tested
national standard. This resulted in the three-part
way of using communication systems to connect
IEC standard IEC 61800-7 "Generic interface and
drives and controllers from different manufacturers
use of profiles for power drive systems".
in an interoperable and straightforward way.
The fact that PROFIdrive has been standardized in
The PROFIdrive profile has been specified by a
IEC 61800-7 and is recommended by various inter-
working group made up of numerous device
national institutions such as OMAC means that its
manufacturers under the PI (PROFIBUS & PROFINET
future as an internationally accepted standard is
International) umbrella. This working group is also
guaranteed. In 2013, PROFIdrive was standardized
responsible for continuous updates and enhance-
in China as GB/T 25740.
ments.

Work on PROFIdrive can be traced back to 1991 1.2. Structure

when the focus was on PROFIBUS DP. The widely
used profile version 2.0 appeared in 1997. In 2002, The basic specifications in the PROFIdrive standard
profile version 3.1 introduced the synchronous are as follows (Figure 1).
servo interface based on PROFIBUS DP-V2. In
2005, V4.0 saw the inclusion of PROFINET as a
further communication system (supported by the
version number 4). Also in 2005, the PROFIdrive on
PROFIsafe Amendement was released, which now
includes the Drive Based Safety functions from
PROFIdrive. The PROFIdrive interface has been
continuously developed and enhanced with new
features ever since.

To satisfy the wide range of industrial automation

applications for drives, PROFIdrive defines six
specific and independent application classes. These
reflect a detailed image of the drive performance
required and enable a precisely defined selection
and minimum-effort implementation of each
specific drive class. The application classes can be Fig. 1: Architecture of PROFIdrive
implemented independently of each other and
enable an interface optimized for the respective • Base model definition
application or industry. Depending on the appli- • Parameter model definition
cation class, the application processes are distri- • Application model definition
buted optimally between the drive (e.g. current • Mapping to PROFIBUS DP
control, speed control) and controller (e.g. position • Mapping to PROFINET IO
control, path interpolation). The communication
system is then responsible for data exchange The main part of the profile (yellow box in Figure
between these distributed processes. Depending 1) describes functions that are independent of the
on the application class, extended communication communication system and that serve to ensure
functions are used for clock synchronization or that an application can be operated with PROFIBUS
device-to-device communication1. DP and PROFINET IO without any changes. As a
result of these functions and with the use of scalable
The profile has been standardized at PI and within communication (from a basic fieldbus to a system-
the IEC and comprehensively documented in the wide Ethernet network with identical application
relevant specification (Profile Drive Technology - view), the drive technology can be linked without
PROFIdrive Profile, PI Order No. 3.172). exception and without changes to the automation
application.

1
For the purposes of non-discriminatory language, the term "Device" has been chosen in this document.

PROFIdrive System Description 5

 Fig. 2: General PROFIdrive drive application model

1.3. Safety 2. PROFIdrive base model

Increasingly, the market is showing a trend towards
drives that have integrated safety technology. This
2.1. Device classes
offers an advantage in the sense that there is no
longer any need for external monitoring devices The PROFIdrive base model defines a general
(reduces wiring and saves space). From this point drive application (Figure 2) as a set of devices with
of view, PROFIdrive and PROFIsafe are the perfect associated communication relationships (cyclic and
complement to one another. Together, the two acyclic data exchange), irrespective of the commu-
profiles create a harmonious unit that enables the nication system used. The following device classes
same bus to be used to control safety functions and are distinguished for this (Figure 3):
standard drive functions. In addition, this enables
simultaneous motion control and safety control of • Controller: Controller or host of automation
a drive (shared device mode). system, e.g., PLC, NC, or RC
• Peripheral device (P device): Drive device with
one or more axes
1.4. Energy efficiency • Supervisor: e.g., Engineering Station or HMI
Precisely in the case of drive technology, which
is one of the main electrical energy consumers
in industrial automation applications, it is very
important to conserve the diminishing and incre-
asingly more expensive energy resources as much
as possible. PROFIenergy provides a platform that
supports standardized control of energy saving
features of devices by a higher-level controller. The
integration of PROFIenergy in PROFIdrive ensures a
consistent solution in this case as well.

6 PROFIdrive System Description

2.2. Object model in the P device 2.3. Communication services
A PROFIdrive drive device (P device) typically
consists of one or more functional objects according Cyclic data exchange
to the number of axes. Each of these objects repre- During operation of a drive application, the
sents the functionality of an axis and is referred to open-loop and closed-loop control processes must
as a drive object (DO). be activated cyclically (Figure 4, "Process"). From
the point of view of the communication system, this
In particular, multi-axis drive devices can also be means that new setpoints have to be transferred
modeled consistently with the PROFIdrive object cyclically from the control application processes
model. to the drives and current actual values also have
to be sent in the opposite direction. The cyclical
transfer can be carried out both isochronously as
well as non-isochronously, depending on the requi-
rements of the application and the selected PROFI-
drive application class.

Acyclic data exchange

In addition to the cyclic setpoints and actual
values, parameters are used for parameterizing
the application processes. The controller accesses
these parameters acyclically since this access is
not time-critical (Figure 4, "Acyclic data channel").
The parameters can be accessed not only by the
controller but also in parallel by a supervisor
Fig. 3: Device classes and their communication (commissioning, operator, maintenance station).
relationships
Alarm mechanisms
The alarm mechanism (Figure 4, "Alarm channel") is
event-controlled and is used to signal the setting
and clearing of maintenance or fault conditions of
the drive axis and/or device.

Fig. 4: Data model and data flows in a drive axis or PROFIdrive drive object (DO)

PROFIdrive System Description 7

 Isochronous operation For typical drive applications in application classes
Any modern drive profile has to be able to support 4, 5, and 6, the jitter of the clock signal must be
isochronous operation of distributed drives of a guaranteed to be less or equal than 1 µs.
drive application, because this is the only way of
accurately coordinating the movements of several Device-to-device communication
axes (such as for path traversing in NC/RC systems Device-to-device communication enables direct
or for synchronizing movements associated with data exchange between devices without having to
electronic gears). This means that a drive profile has transfer data using master/controller. As a result it
to fulfill two basic requirements: is possible for drives to receive actual values from
• Synchronization of multiple application other drives with minimum delay. Easy implemen-
processes on different devices to a common tation of high-performance, cross-axis control loops
master clock is made possible through this.
• Assurance that cyclic data exchange between This opens up new fields of application, especially
processes is completed reliably by a defined in distributed drive applications. An example of this
point in time so that all relevant input and is the transfer of speed setpoints for the purpose of
output data are available on time for further creating a setpoint cascade for paper-, film-, wire-,
processing and fiber-drawing machines.
For process synchronization, PROFIdrive makes use While device-to-device still plays a major role in
of device clocks that are located in every device and motion applications with PROFIBUS, it is no longer
are precisely synchronized with the system's master used in modern motion applications with PROFINET.
clock (Figure 5). The reason for this is the significantly increased
performance of Profinet which led to the estab-
lishement of central PLC-based motion control
concepts that are remarkably more covenient to
engineer.

2.4. PROFIdrive services

Operating modes and basic state machine

A uniform basic state machine is defined for all
application classes in PROFIdrive. It is used to bring
the drive to a dedicated operating state or switch
off the drive in a defined manner.

For application class 3 "Positioning drive", the basic

Fig. 5: Process synchronization in isochronous state machine is extended to include the positi-
mode oning state machines for controlling the positi-
oning function.
For synchronization of the device clocks, PROFI-
drive utilizes the appropriate services of the parti- Figure 6 shows the basic state machine (general
cular communication system. For PROFIBUS, this state diagram) of a PROFIdrive drive. The blue
functionality is an integral component of DP-V2. For blocks represent drive axis states S1 to S5 and
PROFINET IO, it is a component of the isochronous the arrows indicate the state transitions that are
realtime functionality (PROFINET with IRT). possible between them. In case of competing state
transitions, priorities are defined by the number
For PROFIdrive, isochronous communication is of red points shown. The conditions for the state
the basis for drive synchronization. Here, it is not transitions to the yellow boxes are the individual
just the frame traffic on the bus system that is control commands, which are transferred from the
realized in an equidistant time base. The internal controller to the drive axis in the control word with
control loop algorithms, for example for speed and bit coding.
current controllers in the drive or for controllers
in the higher-level automation system, are also
time-synchronized with one another (Figure 5).

8 PROFIdrive System Description

Fig. 6: Basic state machine of a PROFIdrive drive axis

Frames Parameter manager

In cyclic data frames, the control word and the The PROFIdrive parameter manager, which is
status word form the command interface for the operated via the acyclic communication channel,
control of the basic state machine by the controller. provides users with comprehensive services for
Individual bits of the control and status words are accessing the PROFIdrive parameters. Besides
occupied according to the specific application class. reading and writing of parameter values, additional
parameter attributes, such as a parameter
In addition to the control and status words, the description, can also be read. To improve perfor-
setpoint and actual values of the drive axis are mance in the acyclic parameter channel, a multi-
transferred via the cyclic interface. parameter service is also defined for the parameter
PROFIdrive describes the cyclic data interface as a manager.
string of signals. In this regard, PROFIdrive signals
are control and status words as well as setpoints
and actual values. The signal number serves to
uniquely define the content of a signal as well as its 3. PROFIdrive parameter
transfer format. model
For simplification purposes, typical cyclic interface
PROFIdrive defines a drive model that can already
implementations of PROFIdrive are defined as
be found today (at least in part) in every drive
PROFIdrive frames. Thus, a PROFIdrive frame
system. The device comprises various function
number signifies a permanently defined grouping
modules that represent the intelligence of the
of PROFIdrive signals that uniquely describe the
drive system. These function modules are assigned
cyclic interface.
parameters according to Figure 4, which are used
The PROFIdrive frames are fundamentally identical to configure and parameterize the function module
for both PROFIBUS and PROFINET. A manufacturer (Figure 4, "Process data"). In addition, parameters
can also use additional vendor-specific frames and are also used for internal representation of input
signals for a specific application case. and output values of the function module (Figure
4, "Setpoint values", "Actual values"). The function
module can be integrated in the cyclic data
exchange by interconnecting parameters to the
cyclic interface (Figure 4 "Telegrams") accordingly.

PROFIdrive System Description 9

 The PROFIdrive parameter object has, in addition to
the parameter value, additional properties such as
4. PROFIdrive application
the parameter description and the parameter text. model
This allows Clients to browse generically through
the parameter database and read out all parameter According to Figure 2, a drive application consists
properties from the drive that are relevant for the basically of:
Client (e.g. physical unit, data type, high/low limit
value). • application processes in the drive, typically
motor current control and speed control
The PROFIdrive parameter channel therefore is the (Figure 2, bottom), as well as
basis for the wide range of non-real time-critical • application processes in the controller, which
tasks in a drive application, such as: may include things like simple speed setpoint
setting, position control, or path interpolation
• Parameter assignment and commissioning (Figure 2, top), and
• Data backup for device replacement • a communication system (Figure 2, middle),
• Extended diagnostics, such as trace and which provides the relevant services for data
diagnostics buffer exchange and, if necessary, for synchronization
between the application processes.
3.1. Profile-specific parameters
The PROFIdrive profile uses parameter numbers 4.1 Application classes
from 900 to 999 and from 60,000 to define The way drives are integrated into automation
parameters uniformly for all drives, independently solutions is heavily dependent on the drive appli-
of the application classes. These parameters are cation. There is an extremely broad range of drive
designated as profile-specific parameters and applications in automation solutions. A drive device
ensure interoperability and generic identification can span six application classes, depending on the
of the drive and drive interface. market segment and device implementation. In
For example, functions for drive identification, fault this way, PROFIdrive allow a flexible, manufacturer-
buffer, drive control, device identification, and specific design of drive products to meet particular
frame configuration and the complete list of imple- market requirements. Depending on the market
mented parameters are available via profile-specific segment and the type of unit, a drive unit can cover
parameters. one or more application classes.

Standard drive (AK1)

3.2. Vendor-specific parameters
In the simplest case, a main setpoint (e.g. speed
Besides the parameters described in the profile, setpoint) is used to control the drive in PROFIBUS
manufacturer-specific parameters can also be used DP or PROFINET IO (Figure 7). Speed or vector
and be differentiated depending on the manufac- control is handled entirely by the drive. This appli-
turer, drive and supported drive functionality. As cation is primarily used in conventional variable
a result, drive manufacturers can benefit from the speed drives (e.g. frequency converters for pumps,
advantages of a drive profile without having to fans, compressors). PROFIdrive application class 1 is
forego innovations and unique selling features that highly significant to the market and is supported by
provide a competitive edge. almost all PROFINET drives.

10 PROFIdrive System Description

 Positioning drive (AK3)
In this class, the drive features positioning control
in addition to the drive control (speed and position
control). The drive thus acts as an autonomous
single-axis positioning drive, while the higher-
level technological processes run on the controller
(Figure 9). Positioning tasks are transferred to and
started on the single-axis positioner and drive via
PROFIBUS DP or PROFINET IO. Positioning drives
have a very wide range of applications as seen in
positioning drives or in more simple motion appli-
cations without path reference. PROFIdrive appli-
cation class 3 is commonly used for drives with
PROFINET and PROFIBUS.
Fig. 7: Application class 1

Standard drive with technological function

(AK2)

The standard drive with technology functions is

an extremely resource-saving variant for imple-
menting motion applications (Figure 8). With this
class, the entire automation process is broken down
into several subprocesses and distributed among
the drives. The real-time-critical motion functions
therefore are not in the central controller and the
PROFIBUS DP or PROFINET interfaces take on the
character of high-level technological interfaces. Of
course, the decentralization of the technological
processes requires the ability for multi-directional Fig. 9: Application class 3
communication. Thus, device-to-device communi-
cation between the technological processes of the Central motion control (AK4 and AK5)
individual drives is possible in particular. Specific
Application class 4 defines an interface between
examples of applications are setpoint cascades,
the speed setpoint interface and actual position
winders and speed synchronization applications
value interface, where speed control is executed
for continuous processes that involve a conti-
on the drive and position control on the controller,
nuously running material web. PROFIdrive appli-
as it is typically required in robot and machine tool
cation class 2 has often been used with PROFIBUS
applications (Figure 10). The motion control for
to save resources on the PLC. AK2 is no longer used
multiple axes is performed centrally, for example,
in today's systems with PROFINET.
by numerical control (NC). The position control
loop is closed by means of the bus. Clock synchroni-
zation is required to synchronize the clocks for the
position control in the controller and for the speed
control in the drives (PROFIBUS DP-V2 or PROFINET
with IRT).

Application class 5 is comparable to the above

description except that a position setpoint interface
takes the place of the speed setpoint interface.

PROFIdrive application class 4 is the standard

interface for servo drives on a central motion
controller (CNC, RC, MC) and is widely used on
PROFINET and PROFIBUS.

Fig. 8: Application class 2

PROFIdrive System Description 11

 Fig. 10: Application classes 4 and 5
Fig. 11: Application class 6

Decentralized automation with clocked 4.2 Additional functions

processes and electronic shaft (AK6)
The application classes described in the previous
A resource-saving variant for the implementation
section can be extended with optional additional
of motion applications with angle-synchronous
functions.
operation, such as "electric gear", "cam disk" or
"flying saw". Here, device-to-device communi-
cation and clock-synchronous communication are Multiple encoder interfaces
required. The controller (PLC) is not involved in the High-precision servo drives typically have other
axis coupling and can be designed to be accor- measuring systems besides the motor encoder.
dingly economical. PROFIdrive therefore supports up to three position
encoders for a drive axis. Accordingly, this encoder
PROFIdrive application class 6 has often been information must be passed to the controller
used with PROFIBUS to save resources on the PLC. through the PROFIdrive interface, and standard
The AK6 is no longer used in today's systems with frames for multiple encoder channels are provided
PROFINET and instead axis couplings are imple- for this purpose. On principle, the encoder interface
mented by corresponding technology objects on can be combined with any application class in
the PLC. which it is necessary to transfer accurate actual
These applications are typically implemented with position values to the higher-level controller. This is
one master drive to which several device drives are typically the case in application case 4 and 5.
synchronized (Figure 11). In this context, the term
"master drive" means that a drive axis provides infor- Dynamic servo control (DSC)
mation (e.g. actual position values) to other drive The innovative dynamic servo control concept
axes. The device drives follow the motion of the included in the profile can be used in application
master drive by coupling their own drive processes class 4 to improve the dynamic closed-loop perfor-
to the drive process of the master with the help of mance of mechanically rigid drive systems. This is
isochronous communication. accomplished by optional feedback of the dynamic
disturbance resistance component in the position
control loop directly on the drive and in the speed
control cycle. For this purpose, (a) an additional
feedback network is activated in the drive (Figure
12, "DSC control" box) and (b) the setpoint frame
is extended to include the position deviation
determined in the upper level controller. The DSC
function only serves to improve the disturbance

12 PROFIdrive System Description

Fig. 12: Dynamic servo control (DSC) concept

resistance of mechanically rigid drive systems (e.g. appropriate measures can be taken in good time
direct drives). In conventional drive systems with for the purpose of preventing a fault condition.
low mechanical natural frequencies, DSC is, on On principle, several warnings can exist at the
principle, unable to improve the control dynamics. same time (e.g. "elevated motor winding tempe-
rature" and "DC link voltage too low"). Unlike errors,
Using DSC enables the basic concept of the AK4 warnings do not cause the drive to stop.
interface to be retained in the controller (absolute
value management, cross-axis compensations, The profile defines parameters for the warning
homing management in the controller) and to mechanism, each of which represents a so-called
still achieve the maximum possible control perfor- warning word. Each warning that occurs within
mance. a drive or drive axis is mapped to one bit of the
warning word.

5. Diagnostics 5.2 Faults

A fault condition in the drive (e.g. overtemperature)
Figure 13 shows the range of drive diagnostic always triggers a device-specific response, i.e., the
functions available with PROFIdrive. These are drive will generally be shut down. At the same time,
generally organized into mechanisms for handling one or more fault messages describing the fault
warnings and for handling faults. This two-level condition will be entered in the fault buffer (Figure
concept enables emerging problems to be signaled 13).
at an early stage so that preventive actions can be
taken in time. Drives can thus be easily incorpo-
rated into a plant-wide maintenance concept.

5.1 Warnings
Warnings are a form of message that is acknow-
ledged automatically as soon as the cause has been
addressed. They provide advance warning so that

PROFIdrive System Description 13

 5.3 Integration into standard
diagnostic mechanisms
For cross-vendor diagnostics, PROFIdrive provides
a simplified profile-specific diagnostics view
of PROFIdrive fault classes (Figure 13, "Fault
classes mechanism") in addition to the detailed
diagnostics view of fault buffers and warning
words. With the help of the PROFIdrive fault classes,
it is possible to achieve a uniform and consistent
diagnostics view for all PROFIdrive drives, in which
fault classes are structured according to typical
modules and function blocks of a drive and which
supports users and service personnel in carrying
Fig. 13: Fault buffer mapping to profile out fast, systematic trouble-shooting.
parameters
These warnings and faults are signaled as alarm
A fault entry in the PROFIdrive fault buffer consists objects (fault, maintenance demanded, mainte-
of the device-specific fault number, an optional nance required) to the higher-level controller via
application-specific fault code, and an optional the standard PROFINET alarm channel. This ensures
associated value or fault time (Figure 14). The consistent integration of the PROFIdrive drive into
device-specific fault number and fault code infor- the standard diagnostics system of PROFIBUS and
mation enables very detailed device-specific PROFINET.
diagnostics.

Whenever the cause of a fault is eliminated, the

user must always explicitly acknowledge the fault 6. Additional profiles
by means of a command. The acknowledged fault
is not deleted but rather archived in the fault buffer, In addition to traditional drive functions such as
which allows subsequent tracking of faults. The speed, position, and motion control, drives are
size of the fault buffer can be specified on a device- integrating more and more additional functions,
specific basis. which were previously implemented externally but
are now included in the drive. Two typical examples

Fig. 14: PROFIdrive diagnostic functions

14 PROFIdrive System Description

 Fig. 15: Integration of drive-based safety in the drive device

of this are drive-based safety technology and speed reduction or motion restrictions must be
energy management functions. These additional taken on the motion control drive before selecting
drive functions require new communication relati- safety functions, which explains why the drive
onships with additional communication profiles. control requires direct information exchange with
Drive technology is therefore a typical example the F-controller and with the safety process on the
of PROFIBUS and PROFINET devices that not only drive (additional safety information). In this case,
support their original application profile but also PROFIdrive defines standardized flexible exten-
other additional profiles (common application sions for standard frames that can be used in all
profiles). To ensure smooth interaction between application classes.
these additional functions and the basic PROFIdrive
functions, definitions and specifications regarding The shared-device concept of PROFINET IO enables
this interaction have been inluded in PROFIdrive. standard and safety functions to be distributed
among different physical controllers/PLCs, thereby
significantly expanding the usability of integrated
6.1 PROFIsafe safety technology.
Integration of safety technology into the drive The PROFIdrive profile supports the Drive Based
is beneficial because it eliminates the need for Safety functions STO, SS1, SS2, SOS, SLA, SDI, SLS,
external monitoring devices, thereby reducing SLP, SS, SP and SCAM in the PROFIdrive on PROFIsafe
wiring expenses and space requirements. From amendment.
this point of view, the PROFIdrive and PROFIsafe
profiles are the perfect complement to one another.
Together, the two profiles create a harmonious unit 6.2 PROFIenergy
that enables the same bus to be used to control Electric drives account for a large portion of indus-
safety functions and standard drive functions trial power demand. With continuously rising energy
(Figure 15). prices, this cost factor is driving up production costs
The safety functions on the drive are controlled more and more. On the positive side: this represents
by means of cyclic frame exchange with a higher- an enormous savings opportunity for practically all
level safety user program via a safe PROFIsafe trans- companies. Especially in high energy-consuming
mission channel. For purposes of efficient operation, areas, significant savings are possible through the
it is very important to coordinate the sequences use of energy-efficient drives and intelligent energy
on the F-controller with those on the drive control. management. This is where PROFIenergy comes in
Thus, for example, preliminary measures such as by providing a uniform, device-/vendor-neutral

PROFIdrive System Description 15

 interface for controlling energy saving functions
in PROFINET devices. Figure 16 shows the possible
7. Mapping to PROFIBUS
uses of PROFIenergy for a PROFIdrive drive. and PROFINET

7.1 Mapping to PROFIBUS DP

If PROFIdrive is being used on PROFIBUS DP, then
the PROFIdrive base model will be mapped to this
communication system in accordance with Figure
17. For standard applications in application classes
1 and 3, PROFIBUS DP-V1 is sufficient. For applica-
tions with clock synchronization and device-to-
device communication (AK4, AK6), PROFIBUS DP-V2
is required.

The devices of the PROFIdrive base model are

mapped as follows:

• The PROFIdrive controller corresponds to the

class 1 PROFIBUS DP Master
• The PROFIdrive peripheral device (P device)
corresponds to the PROFIBUS DP Device
• The PROFIdrive supervisor corresponds to the
Fig. 16: Starting points for energy savings in the
class 2 PROFIBUS DP Master
field drive technology

Consumption analysis
For the consumption analysis, it is necessary to
systematically measure the energy flows in the
plant using a higher-level energy management
system. Modern drive technology is equipped with
sensors for current and speed control and, thus,
performance data measurements already exist.
However, up to now these data have not been
made available at all or have been provided only
a manufacturer-specific basis. Standardization of
the energy information functions in PROFIenergy
means that the drive can be easily integrated into
the consumption analysis, thereby eliminating
the need for additional costly energy measuring
devices. In addition, the performance and energy Fig. 17: Mapping of base model to PROFIBUS DP
measurements for the drive can also be used for
process and plant diagnostics.
7.2 Mapping to PROFINET IO
Standby management In version 4 or higher, the PROFIdrive profile can
The standby management function of PROFI- also be used with the PROFINET IO communication
energy can be used to place the idle PROFIdrive system.
drive in an energy-optimized standby state. In so
doing, PROFIenergy communicates the expected If PROFIdrive is being used on PROFINET, then the
idle time duration to the drive. The drive can shut PROFIdrive base model is mapped to PROFINET IO
down subprocesses or subcomponents as appro- in accordance with Figure 18. Either PROFINET IO
priate based on the idle time duration. To activate with RT or IRT is used depending on the application.
standby state, the drive must be deactivated by
its application. That is, before a drive is placed in
standby state, it must first be switched to S2 mode
by its drive control.

16 PROFIdrive System Description

The devices of the PROFIdrive base model are 8.1 Quality control through
mapped as follows: certification
• The PROFIdrive controller corresponds to the To ensure that products are implemented in
PROFINET IO Controller compliance with the standards, PI has established
• The PROFIdrive peripheral device (P device) a quality assurance procedure. Only through a
corresponds to the PROFINET IO Device faultless test result positive test reports are issued
• The PROFIdrive supervisor corresponds to the by accredited PI Test Laboratories (PITLs), which
PROFINET IO Supervisor form the basis for issuing a PI certificate. The basic
The control application processes run on the process for this device certification is shown in
PROFINET IO Controller. A drive with one or more Figure 19.
drive axes is referred to as a drive unit and is mapped
to PROFINET IO as an IO Device. A PROFINET IO
application relationship (IOAR) is established
between the IO Controller and the drive unit of an
IO Device (Figure 18). This is used to define cyclic
data exchange, parameter access, and the alarm
channel.

Fig. 19: Procedure for obtaining a certificate

The aim of certification is to provide users with an

assurance that devices from different manufac-
turers are capable of fault-free operation when
used together. For this purpose, the devices are
tested by independent test laboratories under
Fig. 18: Mapping of base model to PROFINET IO lifelike conditions in accordance with the approp-
riate test level. This makes it possible to identify any
implementation errors of the standards by devel-
opers at an early stage so that manufacturers can
8. Conformity and take the necessary remedial action before devices
certification are implemented in the field. The test also examines
the device's compatibility with other certified
devices. Upon successful completion of the test,
In order for products of different types and
the manufacturer can apply for a device certificate.
manufacturers to perform their automation tasks
reliably, their behavior on the bus must comply The certification procedure is based on EN 45000. In
fully with the standard. This requires error-free accordance with the requirements of this standard,
implementation of the communication protocols the test laboratories accredited by PI are not linked
and application profiles by the device manufac- to any specific manufacturer. Only the PITLs (PI
turer. In spite of taking great care, manufacturers Test Labs) can perform the device tests required
of these complex devices cannot always guarantee for awarding the certificate. The test procedure
that this is the case, so that an independent certifi- and the certification process are described in the
cation of the bus interface and the device behavior relevant PI guidelines. Together, the quality system
is necessary. and accreditation procedure ensure a consistent
level of testing quality in all PITLs.

PROFIdrive System Description 17

 8.2 PROFIdrive certification 9. PROFIdrive
PI certification ensures that the devices of different implementation
manufacturers with different functional scopes
conform to the PROFIdrive profile specification. The To keep the initial effort required for implementing
test report of a PITL serves as the basis for awarding a PROFIdrive profile in a company’s own products
a PROFIdrive certificate. as low as possible, the companies participating in
the PROFIdrive Community have set up a working
The PITL uses the PROFIdrive Profile Tester to carry
group known as the PROFIdrive Community Project.
out the certification test. The Profile Tester allows
the tests to be performed automatically to a great The aim of this project is to support interested
extent. manufacturers as comprehensively as possible in
the flawless and rapid implementation of devices
Figure 20 shows the basic structure of the PROFI-
with their own PROFIdrive profile interface.
drive Profile Tester. The drive to be tested (test
sample) is connected to the Profile Tester and One essential approach applied by the Community
undergoes an automated test based on script Project is to provide these manufacturers with
descriptions. The results of the individual test steps tried and tested software components to enable
are recorded automatically in a corresponding log. in-house implementation, eliminating the need to
reinvent the wheel every time a PROFIdrive profile
interface is introduced.

This enables the effort required for implementation

to be significantly reduced and makes it simpler to
ensure later error-free function in the field.

As well as offering the use of a previously estab-

lished source code, the Community Project also
supports the implementation of a PROFIdrive
profile interface with further offers. For example,
there is an Implementation Guide enabling reliable
implementation of smooth communication and
interaction between drive, controller and encoder,
depending on the application class. (Figure 21)

The benefit of the Implementation Guide can be

regarded as similarly high to the possibility of
including previously established source codes with
support from the Community Project.

The Implementation Guide was developed to help

Fig. 20: Conformity test with the PROFIdrive
with the following tasks:
Profile Tester
Provide a quick overview of all necessary function-
The PROFIdrive Profile Tester is available to device
alities that need to be considered for a successful
manufacturers for development support and
implementation of a PROFIdrive device interface.
for preliminary testing purposes. It thus helps
manufacturers to achieve fast, systematic imple- This enables a time-efficient independent
mentation of the PROFIdrive profile into products. assessment of the implementation effort without
the need for familiarization with detailed profile
specifications of the PROFIdrive standard.

Particular emphasis was placed on clarity when

creating the Implementation Guide; all function-
alities are grouped into function blocks and their
interaction is explained in detail using function
plan diagrams.

18 PROFIdrive System Description

 Fig. 21: How the Community Project works

The different effort required to implement a specific Excel spreadsheets that can be used a starting
PROFIdrive application class (AC1 - AC6) is clearly point for your in-house develeopement are also
established and a selection of required functions provided and can be used as well as a starting
for the two most common application classes AC1 point for your in-house development plan and
and AC4 are worked out as examples. can also be used as a well-proven means to track
interface development. Figure 22 shows some
Another clear aid for implementation both when of the main implementation aids mentioned
starting with the comparatively simple frequency above and the benefits that they provide over
inverter interface (AC1) and also for a more complex and above entirely independent implementation.
implementation of a servo drive interface (AC4).

Individual PROFIdrive functions have also been 100% PROFIdrive Application Guide
(Planning, specification)
characterized making it very easy to assess whether
Community Source Code
the implementation is mandatory or optional for (Implementation and
the interface type in question according to the
In-house effort

test) Test automation with

PROFIdrive standard. There are also recommenda- Profile Tester Tool
(PROFIdrive-Profile Test,
tions that help to assess whether it makes sense to Pre-Test for certification)
implement an optional function or not.

The considerable years of experience that the

manufactures bring to the Community Project
Benefit
provide information on special functions that goes
beyond the scope described in the standard based
on many years of practical experience. Fig. 22: Contents and benefits of the
Community Project
For each function block in the application guide,
reference is made to the exact section, pages and Summary of the beneficial services available
figures/tables in the PROFIdrive Profile specifi- through the Community Project:
cation V4.2 standard in which this functionality is • Implementation Guide
described in detail. As such, the Implementation Designed to serve as a planning aid, the
Guide is therefore fundamentally suitable as a PROFIdrive Application Guide lists in detail all
guideline for the PROFIdrive profile. the subfunctions to be implemented for each
application class and provides valuable imple-
mentation tips.

PROFIdrive System Description 19

 • Reference implementation via a license-free
source code
The community source code (AC1 + AC4) is
available as various implementation projects
for a PROFIdrive layer for controllers, drive
devices and encoders on various platforms and
PROFINET stacks and is available to everyone
free of charge. Proven in field operation, usable
on various platforms and operating systems.
• FAQ + version overview report
Which special features were found in the
software, from which version are they taken,
etc.?
• Free file download
Software; overviews, manuals; etc.
• Use of the profile tester at an early stage
during the implementation phase
• Support from the PROFIdrive Community
Fig. 23: Easy engineering of drive integration
companies
using TCI
Informations about the PROFIdrive Community
The TCI also specifies an open communication
Project can be found at www.profibus.com/
channel from the drive commissioning tool through
technology/profidrive/community-project/.
the PLC programming system, which allows the
familiar drive commissioning tool to be used even
for online access.
10. Engineering
Tool Calling Interface (TCI) 11. User benefits
Today's powerful drives contain a wide range
of functions, from the control functionality for Over 30 million PROFIBUS devices are currently
current, voltage, and speed and technological installed. Therefore, the top priority for development
functions such as ramp generators and various has always been and will continue to be ensuring
monitoring activities all the way to logic functions that the system remains fully compatible with the
for sequential control of simple operations. Each of devices that are already on the market.
these functions requires parameter assignment of Thanks to the identical application view and
varying complexity. Commissioning tools that are common base and application models, it is even
adapted to the respective devices are available to possible to switch over from PROFIBUS to PROFINET
drive manufacturers for this purpose. without any major difficulties.
PI has developed the tool calling interface (TCI) The following statements sum up the user benefits
concept for the purpose of integrating drive perfectly: "Integration instead of interfaces" and
commissioning tools into the central engineering "One technology instead of multiple technologies".
system of a plant (typically the engineering tool
of the PLC). The TCI can be used to call existing It is on this basis that PROFIdrive is able to achieve
drive commissioning tools from the central PLC significant cost reductions over the life cycle
engineering (Figure 23). The advantage of this is of a plant or machine for: planning, installation,
that a drive specialist can continue to access his operation and maintenance as well as expansions
familiar user interface to commission and diagnose and upgrades. The integration of PROFIdrive is
drives. On the other hand, the TCI concept ensures made possible by the use of the standard commu-
that the configuration data of commissioning tools nication protocols PROFIBUS DP and PROFINET IO,
integrated in this way are stored in a central PLC which are capable of meeting the diverse require-
project. ments of production and process automation and
motion control and safety applications in equal
measure.

20 PROFIdrive System Description

The PROFIdrive application profile is oriented to PNO is a member of PI (PROFIBUS & PROFINET Inter-
the special requirements of drive technology in national), an umbrella group which was founded in
conjunction with the PROFIBUS and PROFINET 1995. With its 25 regional associations (RPA) and
communication systems and offers unrivaled scala- approximately 1,700 members, PI is represented on
bility of communication performance. It creates every continent and is the world's largest interest
multiple benefits not only for the device and group for the industrial communication field
system manufacturers but also for integrators and (Figure 24).
end users.

There are considerable cost advantages to be

achieved by using a single, integrated communi-
cation solution for the drives, the controller, the I/
Os, and operator control and monitoring.

The integrated approach pays off not only for

planning and installation but also for training,
documentation and maintenance, because only a
single technology is involved.
.
Drive tasks of every conceivable type, each of
which will have its own specific requirements, can Fig. 24: PROFIBUS & PROFINET International (PI)
be addressed in a standard yet flexible way thanks
to the integrated technology, the integrated appli-
Responsibilities of PI
cation programs, and the scalable communication
performance. The key tasks performed by PI are:

The need for user-friendliness is fully met by • Maintenance and ongoing development of
ensuring the interoperability and interchangea- PROFIBUS and PROFINET.
bility of devices from different manufacturers and • Promoting the worldwide use of PROFIBUS
the availability of standardized program libraries and PROFINET
from well-known PLC manufacturers. The reliable • Protection of investment for users and
operation of the devices is guaranteed thanks to manufacturers by influencing the development
independent certification by accredited test labora- of standards.
tories. • Representation of the interests of members to
standard bodies and unions.
Because PROFIdrive has been standardized in IEC • Providing companies with worldwide technical
61800-7, international acceptance is guaranteed support through PI Competence Centers (PICC).
and investments enjoy extensive long-term • Quality control through product certification
protection. This protection is further reinforced based on conformity tests at PI Test Labs (PITL).
by the fact that PROFIdrive is based on the world- • Establishment of a worldwide training standard
leading PROFIBUS and PROFINET technologies. The through PI Training Centers (PITC).
fact that the profile is also recommended by user
organizations such as OMAC and VIK NAMUR has a
Technology development
similar positive effect.
PI has handed responsibility for technology
development over to PNO Germany. The Advisory
Board of PNO Germany oversees the development
12. PROFIBUS & PROFINET activities. Technology development takes place
in the context of more than 40 working groups
International (PI) with input from over 1,000 experts, mostly from
engineering departments of member companies.
As far as maintenance, ongoing development and
market penetration are concerned, open techno- Technical support
logies need a company-independent institution
PI supports circa 60 accredited PI Competence
that can serve as a working platform. This was
Centers (PICCs) worldwide. These facilities provide
achieved for the PROFIBUS and PROFINET techno-
users and manufacturers with all manner of advice
logies by the founding of the PROFIBUS Nutzeror-
and support. As institutions of the PI, they are
ganisation e.V. (PNO) in 1989 as a non-profit interest
independent service providers and adhere to
group for manufacturers, users and institutions. The

PROFIdrive System Description 21

 the mutually agreed regulations. The PICCs are
regularly checked for their suitability as part of an
individually tailored accreditation process. A list of
the current PICC locations can be found on the web
site.

Certification
PI supports 10 accredited PI test labs (PITL)
worldwide, which assist in the certification of
products with a PROFIBUS/PROFINET interface. As
institutions of the PI, they are independent service
providers and adhere to the mutually agreed
regulations. The testing services provided by the
PITLs are regularly audited in accordance with a
strict accreditation process to ensure that they
meet the necessary quality requirements. A list of
the current PITL locations can be found on the web
site.

Training
Approximately 30 PI Training Centers (PITC) have
been set up with the aim of establishing a global
training standard for engineers and technicians.
The accreditation of the Training Centers and
the experts that are based there ensures the
quality of the training and, thus, the quality of the
engineering and installation services for PROFIBUS
and PROFINET. A list of the current PITC locations
can be found on the web site.

Internet
Current information on PI and the PROFIBUS
and PROFINET technologies is available
on the PI web site www.profibus.com or
www.profinet.com. This includes, for example,
an online product finder, a variety of web-based
training content and the download area containing
specifications, profiles, installation guidelines and
other documents.

22 PROFIdrive System Description

Space for your notes

PROFIdrive System Description 23

24 PROFIdrive System Description
PROFIdrive System Description
Technology and Application
Version November 2021
Order number 4.322

Publisher:
PROFIBUS Nutzerorganisation e. V. (PNO)
PROFIBUS & PROFINET International (PI)
Haid-und-Neu-Str. 7 · 76131 Karlsruhe · Germany
Phone: +49 721 986 197 0 · Fax: +49 721 986 197 11
E-Mail: info@profibus.com
www.profibus.com · www.profinet.com

Exclusion of liability

Although the PROFIBUS Nutzerorganisation e.V. (PNO) has taken the most care in compiling the in-
formation contained in this brochure, it cannot guarantee that the content is completely error-free,
and the PROFIBUS Nutzerorganisation e.V. (PNO) can assume no liability, regardless of the legal basis
for any potential claims. The information in this brochure is reviewed on a regular basis. Any necessary
corrections will be made in subsequent editions. We would be grateful for any suggestions as to how
the content could be improved.

Any designations that appear in this brochure could potentially constitute trademarks. Any use of such
trademarks by third parties for their own ends risks infringing the rights of the proprietors concerned.

This brochure is not intended to serve as a substitute for the relevant IEC standards, such as IEC 61158
and IEC 61784, or the relevant specifications and guidelines of PROFIBUS & PROFINET International.
In case of doubt, these standards, specifications, and guidelines are authoritative.

© Copyright by PROFIBUS Nutzerorganisation e.V. (PNO) 2021. All rights reserved.

Picture credits: Page 1: Festo SE & Co. KG
 For additional information go to:
www.profinet.com/technology/profidrive
© Copyright by PI 11/21 – all rights reserved – 4.322

PROFIBUS Nutzerorganisation e. V. (PNO)

PROFIBUS & PROFINET International (PI)
Haid-und-Neu-Str. 7 · 76131 Karlsruhe · Germany
Phone: +49 721 986 197 0 · Fax: +49 721 986 197 11
E-Mail: info@profibus.com
www.profibus.com · www.profinet.com