Siemens SINAMICS S120 Function Manual page 417

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
Designations and descriptions for Motion Control
Table 10-31 Time settings and meanings
Name Value
T 5DC hex
BASE_DP
≐
1500 dec
T 8
DP
T 1
MAPC
T
SAPC
T 5DC hex
BASE_IO
≐
1500 dec
T 2
I
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
of each cycle and transferred to the master in the next 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 after the beginning of the cycle.
O
Limit value
1)
-
T ≥ T
DP DP_MIN
T = 8
DP_MIN
n ∙ T
DP
n = 1 - 14
-
T ≤ T < T
I_MIN I
T = 1
I_MIN
Communication PROFIBUS DP/PROFINET IO
Time basis for T
calculation: T
BASE_DP
T = 1/12 µs at 12 Mbaud
Bit
T corresponds to the largest current controller cycle
BASE_DP
(p0115[0]) of a drive object (servo/vector).
Cycle time
T = integer multiple ∙ T
DP
calculation: T
DP
Min. DP cycle time
calculation: T
DP_MIN
Master application cycle time
This is the time frame in which the master application generates
new setpoints (e.g. in the position controller cycle).
Calculation: T
MAPC
Slave application cycle time
Time basis for T
calculation: T
BASE_IO
T = 1/12 µs at 12 Mbaud
Bit
T corresponds to the largest current controller cycle
BASE_IO
(p0115[0]) of a drive object (servo/vector) in the drive unit.
Time of actual-value sensing
DP
This is the time at which the actual position value is captured
before the start of each cycle.
T = integer multiple of T
I
calculation: T = 2 ∙ 125 µs = 250 µs
I
When T = 0: T
I I
Min. T
I
calculation: T
I_MIN
T corresponds to the largest current controller cycle
I_MIN
(p0115[0]) of a drive object (servo/vector) in the drive unit.
10.2 Communication via PROFIBUS DP
after each position controller cycle
M
Description
DP
= 1500 ∙ T = 125 µs
Bit
BASE_DP
= 8 ∙ T = 1 ms
BASE_DP
= 8 ∙ T = 1 ms
BASE_DP
= 1 ∙ T = 1 ms
DP
, T
I O
= 1500 ∙ T = 125 µs
Bit
BASE_IO
= T
DP
= 1 ∙ T = 125 µs
BASE_IO
before the start
I
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