Cycle Mix For Servo Control And Vector Control - Siemens SINAMICS S120 Function Manual

Using EPOS
The following table lists the number of axes that can be operated with a SINAMICS S120
when using a "basic positioner" (EPOS) function module. The number of axes depends on
the current controller sampling time.
Table 13- 21 Sampling times when using EPOS
Cycle times [µs]
Current controller Speed controller
250
250
125
The CPU processing time required for the function module EPOS (with 1 ms position
controller/4 ms positioner) corresponds to the same CPU processing time of 0.5 V/f axes
with 500 μs.
Use of the SINAMICS Web server
The available computation time can be used for the SINAMICS Web server. The following
boundary condition applies here:
● The utilization of the system (r9976) must be less than 90%!
● A maximum of five users can access data on the same drive via the SINAMICS Web
server.
Using CUA31/CUA32
Information on using the Control Unit Adapter CUA31 or CUA32:
● CUA31/32 is the first component in the CUA31/32 topology: 5 axes
● CUA31/32 is not the first component in the CUA31/32 topology: 6 axes
● For a current controller sampling time of 62.5 µs, only one axis is possible with one
CUA31/32.
13.12.5.2

Cycle mix for servo control and vector control

Supplementary conditions
The rules for setting the sampling time (see Section Rules when setting the sampling times
(Page 1007)) and the rules on isochronous mode (see Section Rules for isochronous mode
(Page 1009)) apply.
These rules mean that the smallest common multiple of the current controller sampling times
of all axes operated on the isochronous PROFIBUS and 125 µs is used to set T
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Cycle times [ms]
Position controller
250 2
250 1
125 1
Basic information about the drive system
13.12 System rules, sampling times and DRIVE-CLiQ wiring
Positioner
8
4
4
Number
Axes Infeed
6 1 [250 μs]
5 1 [250 μs]
4 1 [250 μs]
, T and T
i o
.
dp
1031