Motion Control With Profibus - Siemens SINAMICS S120 Series Function Manual

Communication via PROFIBUS DP

4.3 Motion Control with PROFIBUS

4.3 Motion Control with PROFIBUS
Motion control / isochronous drive coupling with PROFIBUS
Figure 4-7 Motion control / isochronous drive coupling with PROFIBUS, optimized cycle with T
Sequence of data transfer to closed-loop control system
1. The actual position value G1_XACT1 is read into at time T
and transferred to the master in the next cycle.
2. The closed-loop control of the master starts at time T
and uses the transferred actual value in the telegram.
3. In the next cycle, the master forwards the calculated setpoints to the slaves. The speed
setpoint command NSET_B is issued to the closed-loop control system at time T
the beginning of the cycle.
94
= 2 ∙ T
MAPC
before the start of each cycle
I
after each position controller cycle
M
Function Manual, 12/2018, 6SL3097-5BD00-0BP0
DP
after
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Communication