Siemens SIMATIC S7-1500 Function Manual page 19

Drives and encoders
Drives permit the movement of the axis. They are integrated into the hardware configuration.
When you perform a Motion Control job in your user program, the technology object takes
over the control of the drive and the reading in of values from position encoders.
Drives and encoders with PROFIdrive capability are connected by means of PROFIdrive
frames. The following connections are possible:
● PROFINET IO
● PROFIBUS DP
● Technology module (TM)
Drives with analog setpoint interfaces are connected using an analog output (AQ) and an
optional enable signal. Analog inputs and outputs are made available by means of
corresponding IO modules.
A drive is also called an actuator, and an encoder is also called a sensor.
The figure below shows an example configuration in which all components are connected to
the CPU by means of PROFINET IO:
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
2.2 Principle of operation of S7-1500 Motion Control
Introduction
19