Motion Control With Profinet - Siemens Sinamics S110 Function Manual

Communication
9.4 Communication via PROFINET IO
9.4.6

Motion Control with PROFINET

Motion Control/Isochronous drive link with PROFINET
Figure 9-42
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
632
Motion Control/Isochronous drive link with PROFINET, optimized cycle with CACF = 2
start of each cycle and transferred to the master in the next cycle.
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
IO_Output
after the beginning of the cycle.
after each position controller
CA_Start
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
before the
IO_Input
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