Siemens SIMOTION D410 Commissioning Manual page 101

Table 5-3
Example
Vector drive (chassis format)
Current controller cycle = 375 µs
Speed controller cycle = 1.5 ms
Vector drive (PM340)
Current controller cycle = 500 µs
Speed controller cycle = 2 ms
Note
Vector drives in chassis format can also be operated with a current controller sampling time
of 400 µs (among other settings).
In a SIMOTION context, the following should be considered:
● A current controller sampling time of 400 µs is only possible if control is via a
● If the bus is operated isochronously, only cycles with an integer multiple of 125 µs are
● The PROFIBUS Integrated of a SIMOTION D410 is always isochronous. This means that
● With CU parameter p0092 = 1, the sampling times are preassigned in a way that enables
Output cams / measuring inputs with vector drives
With vector drives, the cycle clock ratios (current controller cycle clock, speed controller cycle
clock, sampling time of the inputs/outputs, etc.) depend on the number of vector drives, or with
chassis units also on the device type used.
Note the information in Section Current controller cycle clocks <> 125 µs / use of output cams
and measuring inputs (Page 107).
Additional references
Additional information on quantity structures and cycle clock settings can be found in the
SINAMICS S120 Function Manual.
SIMOTION D410
Commissioning Manual, 04/2014
Vector drive
SINAMICS S120 control unit, which is not operated isochronously via PROFIBUS/
PROFINET on SIMOTION D.
possible (instead of 400 µs, so 375 µs or 500 µs, for example).
a current controller sampling time of 400 µs is not possible.
isochronous operation with a control system.
5.4 Additional information on configuring the SINAMICS Integrated
Settings
T = T = At least 375 µs
I O
T = 1.5 ms (... or 3 ms, or 6 ms ....)
DP
T = T
MAPC DP
For the SIMOTION D410, a minimum of 2 ms is recommended for
the servo cycle.
For this reason, set T
T = T = At least 500 µs
I O
T = 2 ms (... or 4 ms, 8 ms, ....)
DP
T = T
MAPC DP
Commissioning (software)
= T = 3 ms or higher.
MAPC DP
101