Cycle Mix For Servo Control And Vector Control - Siemens Sinamics s120 Commissioning Manual

Preparation for commissioning
2.5 System rules, sampling times and DRIVE-CLiQ wiring
Use of SINAMICS web server
The available computation time can be used for SINAMICS web server. The following
boundary condition applies here:
● The utilization of the system (r9976) must be less than 90%!
● A maximum of 5 users can access data on the same drive via the SINAMICS web server.
Using CUA31/CUA32
Information on using the Control Unit Adapter CUA31 or CUA32:
● CUA31/32 is the first component in the CUA31/32 topology: 5 axes
● CUA31/32 is not the first component in the CUA31/32 topology: 6 axes
● For a current controller cycle of 62.5 µs, only one axis is possible with one CUA31/32.
2.5.5.2

Cycle mix for servo control and vector control

Supplementary conditions
The rules for setting the sampling time (see Chapter Rules when setting the sampling times
(Page 40)) and the rules on isochronous mode (see Chapter Rules for isochronous mode
(Page 42)) apply.
These rules mean that the smallest common multiple of the current controller cycles of all
axes operated on the isochronous PROFIBUS and 125 µs is used to set T
Current controller cycles for cycle mix
Consequently the smallest common multiple of the current and speed controller cycles of all
axes operated on the isochronous PROFIBUS is used to set the base cycle for T
T . For a cycle mix, a compromise must be sought between the base cycle to set T
dp
T , and the required pulse frequency.
dp
64
STARTER Commissioning Manual
Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5
, T and T .
i o dp
, T and
i o
, T and
i o