Siemens SINAMICS S120 Function Manual page 747

Overview of closed-loop control
● Position actual value sensing in the device is alternatively realized using an:
– Indirect measuring system (motor encoder)
– Additional direct measuring system
● The encoder interface must be configured in the process data.
● The control loop is closed via PROFIBUS.
● The position controller is located in the controller.
● The current and speed control and actual value sensing (encoder interface) are located in
the device.
● The position controller cycle is transferred via the fieldbus to the devices.
● The slaves synchronize their speed and/or current controller cycle with the position
controller cycle of the controller.
● The speed setpoint is specified by the controller.
Figure 11-6
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Overview of "Motion Control with PROFIBUS" (example: controller and 3 devices)
11.1 Communication according to PROFIdrive
Communication
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