Siemens SINAMICS S120 Series Function Manual page 48

Communication according to PROFIdrive
3.2 Cyclic communication
Overview of closed-loop control
● Position actual value sensing in the device is alternatively realized using an:
– Indirect measuring system (motor encoder)
– Additional direct measuring system
● The encoder interface must be configured in the process data.
● The control loop is closed via PROFIBUS.
● The position controller is located in the controller.
● The current and speed control and actual value sensing (encoder interface) are located in
the device.
● The position controller cycle is transferred via the fieldbus to the devices.
● The slaves synchronize their speed and/or current controller sampling time with the
position controller clock cycle of the controller.
● The speed setpoint is specified by the controller.
Figure 3-5
Structure of the data cycle
The data cycle comprises the following elements:
● Global control telegram (PROFIBUS only)
● Cyclic part - setpoints and actual values
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Overview of "Motion Control with PROFIBUS" (example: controller and 3 devices)
Function Manual, 12/2018, 6SL3097-5BD00-0BP0
Communication