Siemens SINAMICS S120 Series Function Manual page 38

Communication according to PROFIdrive
3.1 PROFIdrive application classes
Telegram Description
(p0922 = x)
139 Speed/position control with Dynamic Servo Control and torque
precontrol, 1 position encoder, clamping status, additional actual
values
146 Closed-loop speed/position control with Dynamic Servo Control
and torque precontrol, 2 position encoders (encoder 1 and en-
coder 2), additional actual values, adaptation parameters
148 Closed-loop speed/position control with Dynamic Servo Control
and torque precontrol, 2 external position encoders (encoder 2
and encoder 3), additional actual values, adaptation parameters
149 Speed/position control with Dynamic Servo Control and torque
precontrol, 1 position encoder, clamping status, additional actual
values, adaptation parameters
166 Hydraulic axis (HLA) with two encoder channels and HLA addi-
tional signals
220 Speed setpoint, 32 bit, metal industry
352 16-bit speed setpoint for PCS7
370 Infeed
371 Infeed, metal industry
390 Control Unit with digital inputs DI 0 ... DI 15 and digital outputs
DO 8 ... DO 15
391 Control Unit with digital inputs DI 0 ... DI 15, DO 8 ... DO 15 and
2 probes
392 Control Unit with digital inputs DI 0 ... DI 15, digital outputs DO 8
... DO 15 and 6 probes
393 Control Unit with digital inputs DI 0 ... DI 22, digital outputs DO 8
... DO 16, 8 probes and analog input
394 Control Unit with digital inputs DI 0 ... DI 22 and digital outputs
DO 8 ... DO 16
395 Control Unit with digital inputs DI 0 ... DI 22, digital outputs DO 8
... DO 16 and 16 probes
700 Supplementary PZD-0/3
701 Supplementary PZD-2/5
750 Supplementary PZD-3/1
999 Free interconnection and length
Dynamic Servo Control (DSC)
The PROFIdrive profile contains the "Dynamic Servo Control" control concept. This requires
PROFIdrive application class 4 and transfers not only the speed setpoint, but also the KPC
position controller gain factor and the XERR system deviation. With the aid of this data, the
position controller can be calculated in the drive. The position setpoint interpolation is still
performed in the controller. This can be used to significantly increase the dynamic
stability/stiffness of the position control loop in PROFIdrive application class 4.
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Class 1 Class 3
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Function Manual, 12/2018, 6SL3097-5BD00-0BP0
Class 4
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Communication