Siemens SINAMICS S120 Function Manual page 498

Communication PROFIBUS DP/PROFINET IO
10.2 Communication via PROFIBUS DP
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- 44 Time settings and meanings
Name Value
T BB8 hex
BASE_DP
≐
3000 dec
T 4
DP
T 1
MAPC
T
SAPC
T 5DC hex
BASE_IO
≐
1500 dec
T 2
I
498
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 NSOLL_B is issued to the closed-loop control
system at time T after the beginning of the cycle.
O
Limit value
1)
-
T ≥ T
DP DP_MIN
T = 4
DP_MIN
T = 128
DP_MAX
n ∙ T
DP
n = 1 - 14
-
T ≤ T < T
I_MIN I
T = 1
I_MIN
Time basis for T
calculation: T
BASE_DP
T = 1/12 µs at 12 Mbaud
Bit
T corresponds to the longest current controller cycle
BASE_DP
(p0115[0]) of a drive object (servo/vector) (at least 250 µs).
DP cycle time
T = integer multiple ∙ T
DP
calculation: T
DP
Min. DP cycle time
calculation: T
DP_MIN
Max. DP_cycle time
Calculation: T
DP_MAX
Master application cycle time
This is the time frame in which the master application generates
new setpoints (e.g. in the position controller cycle).
Calculation: T
MAPC
Slave application cycle time
Time basis for T
calculation: T
BASE_IO
T = 1/12 µs at 12 Mbaud
Bit
T corresponds to the longest current controller cycle
BASE_IO
(p0115[0]) of a drive object (servo/vector) in the drive unit (at
least 125 µs).
Time of actual-value sensing
DP
This is the time at which the actual position value is captured
before the start of each cycle.
T = integer multiple of T
I
calculation: T = 2 ∙ T
I
When T = 0: T
I I
Min. T
I
calculation: T
I_MIN
T corresponds to the longest current controller cycle
I_MIN
(p0115[0]) of a drive object (servo/vector) in the drive unit (at
least 125 µs).
Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
after each position controller cycle
M
Description
DP
= 3000 ∙ T = 250 µs
Bit
BASE_DP
= 4 ∙ T = 1 ms
BASE_DP
= 4 ∙ T = 1 ms
BASE_DP
=128 ∙ T =32ms
BASE_DP
= 1 ∙ T = 1 ms
DP
, T
I O
= 1500 ∙ T = 125 µs
Bit
BASE_IO
= 250 µs
BASE_IO
= T
DP
= 1 ∙ T = 125 µs
BASE_IO
before the start
I
Drive functions