Siemens SINAMICS S120 Function Manual page 470

Communication PROFIBUS DP/PROFINET IO
10.1 Communication according to PROFIdrive
● The slaves synchronize their speed and/or current controller cycle with the position
● The speed setpoint is specified by the master.
Figure 10-17 Overview of "Motion control with PROFIBUS" (example: master and 3 slaves)
Structure of the data cycle
The data cycle comprises the following elements:
1. Global Control telegram (PROFIBUS only)
2. Cyclic part
3. Acyclic part
4. Reserve (PROFIBUS only)
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controller cycle on the master.
– Setpoints and actual values
– Parameters and diagnostic data
– Transmission of token (TTH).
– For searching for a new node in the drive line-up (GAP)
– Waiting time until next cycle
Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
Drive functions