Siemens SINAMICS S120 Commissioning Manual page 31

● At a drive object "SERVO" or "VECTOR", up to three encoder data sets can be created
● A maximum of 24 drive objects (DOs) can be connected.
● At the CU320-2 Control Unit, a maximum of 16 Terminal Modules can be connected.
● At the CU310-2 Control unit a maximum of 8 Terminal Modules, type TM15 Base and
● At the CU310-2 Control Unit, a maximum of 3 Terminal Modules, type TM15, TM17 or
● Cycle times with TM31
● The communication basic clock cycles (p0115[0] and p4099) of all components that are
● For current controller clock cycles T
● The fastest sampling time of a drive object in the servo control mode is obtained as
● The fastest sampling time of a drive object in vector control mode is obtained as follows:
● The fastest sampling time of a drive object in vector U/f vector control mode is given as:
Commissioning Manual
Commissioning Manual, (IH1), 01/2013, 6SL3097-4AF00-0BP3
for each drive data set. The maximum number of encoder data sets depends on the
quantity structure and the current controller clock cycle:
– For a quantity structure of 6 axes in servo control with a controller cycle of 125 μs and
one Line Module, it is permissible to connect a maximum of 12 encoders.
– For 5 axes in servo control with a current controller cycle of 125 µs, a maximum of 15
encoders can be connected.
Note: If a TM15 Base, TM31, TM54F or a TM41 is connected, it is necessary to reduce
the number of connected standard axes.
TM31 can be connected.
TM41 can be connected.
A maximum of 3 Terminal Modules 31 (TM31) can be connected for a 2 ms time slice.
connected to a DRIVE-CLiQ line must be divisible by one another with an integer result.
– The smallest communication basic clock cycle is 125 µs.
– The exception are a maximum of 3 servo-controlled axes with 62.5 µs communication
basic clock cycle or a servo-controlled axis with 31.25 µs communication basic clock
cycle.
controller clock cycle – must be symmetrically connected to two DRIVE-CLiQ ports.
follows:
– T = 31.25 µs: Exactly 1 drive object in servo control (only CU320-2)
i
– T = 62.5 µs: Max. 3 drive objects in servo control with CU320-2
i
Exactly 1 drive object in servo control with CU310-2
– T = 125 µs: Max. 6 drive objects in servo control
i
– T = 250 µs: Max. 3 drive objects in vector control
i
– T = 400 µs: Max. 5 drive objects in vector control
i
– T = 500 µs: Max. 6 drive objects in vector control
i
– T = 500 µs: Max. 12 drive objects in U/f control mode
i
1.5 Rules for wiring with DRIVE-CLiQ
< 125 μs, the Motor Modules – also with the same
i
Preparation for commissioning
29