Siemens SINUMERIK 840D sl Commissioning Manual page 221

Communication between the NC and the drive
The telegrams from the NC to the drive are transferred via the internal PROFIBUS of the NCU:
● Send telegrams (drive → NC)
● Receive telegrams (NC → drive)
The telegrams are standard telegrams with pre-defined assignment of the process data (PZD),
and are interconnected in the drive object using BICO technology.
The following drive objects can exchange process data:
1. Active Line Module (A_INF)
2. Basic Line Module (B_INF)
3. Motor Module (SERVO)
4. Control Unit (CU_I, CU)
The sequence of the drive objects in the telegram on the drive side can be set in parameter
p0978[0...15]: Operating area "Commissioning" → "Machine data" → "Control Unit parameters".
Selecting a telegram via p0922 of the related drive object ("Commissioning" → "Machine data"
→ "Drive parameters" operating area) determines the process data to be transferred.
The receive and send words comprise the following elements:
● Receive words: Control words or setpoints
● Send words: Status words or actual values
Further details are found in the following SINAMICS Manuals:
● SINAMICS S120 Function Manual (FH1)
view/109763287) in the Section "Communication"
● SINAMICS S120/S150 List Manual (LH1)
view/109763271) in the Section "Function block diagrams"
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA
Communication between the NC and the drive
7.4 Process data transfer between the NC and drive
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