Siemens SINAMICS Configuration Manual page 159

Example
The following diagram shows a configuration example of a drive with three axes. The A-CPU
sends Siemens telegram 105 for axis 1 and Siemens telegram 102 for axis 2. The F-CPU
sends PROFIsafe telegram 30 for axis 1 and axis 3.
Figure A-23
Configuration
To configure the connection, proceed as follows:
1. Using parameter p8929 = 2, define that data from 2 controllers should be received via the
PROFINET interface.
2. Using parameters p9601.3 = p9801.3 = 1, enable PROFIsafe for axes 1 and 2.
3. Configure the PROFINET communication in HW Config (see section "Configuring the
controllers").
When the system powers up, using p8929 = 2, the drive system identifies that PROFINET
telegrams are expected from 2 controllers. The controller establishes the communication.
Note
When booting, the drive system first requires the configuration data of A-CPU and then
establishes a cyclic communication to this CPU taking into account the PROFIsafe telegrams
expected.
As soon as the drive system has received the configuration data of the F-CPU, then cyclic
communication is also established here and PROFIsafe telegrams are taken into consideration.
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Configuration Manual, 08/2017, A5E36912609A
Example, communication sequence
Communication
A.1 Communication
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