Motion Control With Profinet - Siemens SINAMICS S120 Function Manual

Communication
11.3 Communication via PROFINET IO
11.3.5

Motion Control with PROFINET

Motion Control / isochronous drive link with PROFINET
Figure 11-35 Motion Control / isochronous drive link with PROFINET, optimized cycle with CACF = 2
Sequence of data transfer to closed-loop control system
1. Actual position value G1_XIST1 is read into the telegram image at time T
start of each cycle and transferred to the master in the next cycle.
2. Closed-loop control on the master (Controller in the figure) starts at time T
each position controller cycle and uses the current actual values read previously from the
slaves (Device in the figure).
3. In the next cycle, the master transfers the calculated setpoints to the telegram image of
the slaves. The speed setpoint command NSET_B is issued to the closed-loop control
system at time T
726
(Controller Application Cycle Factor)
after the beginning of the cycle.
IO_Output
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
before the
IO_Input
after
CA_Start
Drive functions