Siemens Sinamics S120 Function Manual page 648

Communication
10.3 Communication via PROFINET IO
Sequence of data transfer to closed-loop control system
1. Position actual 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
Designations and descriptions for motion control
Table 10- 63 Time settings and meanings
Name
T -
DC_BASE
T T_DC_MIN ≤ T_DC ≤
DC
T_DC_MAX
T CACF = 1-14
CACF
T T
CA_Valid CA_Valid
T T
CA_Start CA_Start
T
IO_BASE
T T_IO_InputMIN ≤
IO_Input
T_IO_Input < T_DC
T
IO_InputMIN
T T_IO_Output_valid +
IO_Output
T_IO_OutputMIN ≤
T_IO_Output < T_DC
T
IO_OutputMIN
646
start of each cycle and transferred to the master in the next cycle.
cycle and uses the current actual values read previously from the slaves.
the slaves. The speed setpoint command NSOLL_B is issued to the closed-loop control
system at time T
IO_Output
Limit value
Time basis for cycle time T
calculation:
T
Cycle time
T
T
T
IO controller application cycle time
This is the time frame in which the IO controller application generates new
setpoints (e.g. in the position controller cycle).
Calculation example:
T
< T Time, measured from the beginning of the cycle, at which the actual
DC
values of all IO devices for the controller application process (position
control) are available.
> T Time, measured from the beginning of the cycle, at which the controller
CA_Valid
application process (position control) starts.
Time base for T
T
Time of actual value acquisition
This is the time at which actual values are acquired before a new cycle
starts.
T
T_IO_Input: integer factor
Minimum value for T
Calculation: T
Time of setpoint transfer
This is the time, calculated from the beginning of the cycle, at which the
transferred setpoints (speed setpoint) are accepted by the closed-loop
control system.
T
T_IO_Output: integer factor
Minimum value for T
Calculation: T
after the beginning of the cycle.
=T_DC_BASE × 31.25 µs = 4 × 31.25 µs = 125 µs
DC_BASE
= T_DC × T ,T_DC: Integer factor
DC DC_BASE
= T_DC_MIN × T
DC_MIN DC_BASE
= T_DC_MAX × T
DC_MAX DC_BASE
= CACF × T_DC = 2 × 500 µs = 1 ms
CACF
, T
IO_Input IO_Output
= T_IO_BASE × 1 ns = 125000 × 1 ns = 125 µs
IO_BASE
= T_IO_Input × T
IO_Input IO_BASE
IO_Input
= T_IO_InputMIN × T
IO_InputMIN
= T_IO_Output × T
IO_Output
IO_Output
= T_IO_OutputMIN × T
IO_OutputMIN
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
after each position controller
CA_Start
Description
DC
= 4 × 125 µs = 500 µs
= 32 × 125 µs = 4 ms
= 375 µs
IO_BASE
IO_BASE
IO_BASE
before the
IO_Input
= 250 µs
Drive functions