Motion Control With Profinet - Siemens SINAMICS S120 Function Manual

You will find a detailed description for processing a GSDML file in HW Config in the SIMATIC
documentation.
10.3.5

Motion Control with PROFINET

Motion Control/Isochronous drive link with PROFINET
Figure 10-45 Motion Control/Isochronous drive link with PROFINET, optimized cycle with CACF = 2
Sequence of data transfer to closed-loop control system
1. Position actual value G1_XIST1 is read into the telegram image at time T
2. Closed-loop control on the master starts at time T
3. In the next cycle, the master transmits the calculated setpoints to the telegram image of
Drive functions
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
start of each cycle and transferred to the master in the next cycle.
cycle and uses the current actual values read previously from the slaves.
the slaves. The speed setpoint command NSOLL_B is issued to the closed-loop control
system at time T
IO_Output
after the beginning of the cycle.
10.3 Communication via PROFINET IO
after each position controller
CA_Start
Communication
before the
IO_Input
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