Siemens Sinamics S110 Function Manual page 600

Communication
9.3 Communication via PROFIBUS DP
Motion Control /Isochronous drive link with PROFIBUS
Figure 9-23
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 9- 37 Time settings and meanings
Name
T 250 µs
BASE_DP
T T ≥ T
DP DP
598
Motion Control/Isochronous drive link with PROFIBUS, optimized cycle with T
T
DP
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
Time basis for T
DP cycle time
DP_MIN
T = Dx + MSG + RES + GC
DP
T = integer multiple ∙ T
DP
T = 1 ms
DP
T
DP_MAX
DP
BASE_DP
=32 ms
after each position controller cycle
M
Description
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
= 2 ∙
MAPC
before the start
I
Function Manual