Motion Control With Profinet - Siemens SINAMICS S120 Function Manual

Communication PROFIBUS DP/PROFINET IO
10.3 Communications via PROFINET IO
10.3.4

Motion Control with PROFINET

Motion Control/Isochronous drive link with PROFINET
Figure 10-48 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
start of each cycle and transferred to the master in the next cycle.
2. Closed-loop control on the master starts at time T
cycle and uses the current actual values read previously from the slaves.
3. In the next cycle, the master transmits the calculated setpoints to the telegram image of
the slaves. The speed setpoint command NSOLL_B is issued to the closed-loop control
system at time T
448
after the beginning of the cycle.
IO_Output
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
after each position controller
CA_Start
before the
IO_Input
Drive Functions