Motion Control With Profibus - Siemens SINAMICS S120 Function Manual

10.2.3

Motion Control with PROFIBUS

Motion control / isochronous drive coupling with PROFIBUS
Figure 10-25 Motion control / isochronous drive coupling with PROFIBUS, optimized cycle with T
Sequence of data transfer to closed-loop control system
1. Actual position 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
Drive functions
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
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 NSET_B is issued to the closed-loop control
system at time T after the beginning of the cycle.
O
10.2 Communication via PROFIBUS DP
= 2 ∙ T
MAPC
after each position controller cycle
M
Communication
DP
before the start
I
737