Motion Control With Profibus - Siemens SINAMICS S120 Function Manual

Communication
11.2 Communication via PROFIBUS DP
11.2.3

Motion Control with PROFIBUS

Motion control / isochronous drive coupling with PROFIBUS
Figure 11-17 Motion control / isochronous drive coupling with PROFIBUS, optimized cycle with T
Sequence of data transfer to closed-loop control system
1. The actual position value G1_XACT1 is read into at time T
and transferred to the master in the next cycle.
2. The closed-loop control of the master starts at time T
and uses the transferred actual value in the telegram.
3. In the next cycle, the master forwards the calculated setpoints to the slaves. The speed
setpoint command NSET_B is issued to the closed-loop control system at time T
the beginning of the cycle.
788
= 2 ∙ T
MAPC
before the start of each cycle
I
after each position controller cycle
M
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
DP
after
O
Drive functions