Siemens Sinamics S110 Function Manual page 528

Communication
9.2 Communication according to PROFIdrive
Application class 4 (central motion control)
This application class defines a speed setpoint interface with execution of the speed control
on the drive and of the positioning control in the controller, such as is required for robotics
and machine tool applications with coordinated motions on multiple drives.
Motion control is primarily implemented by means of a central numerical controller (CNC).
The position control loop is closed via the bus. The synchronization of the position control
cycles in the control and in the closed-loop controllers in the drive requires a clock
synchronization of the kind provided by PROFIBUS DP.
Figure 9-5
Dynamic Servo Control (DSC)
The PFOFIdrive profile contains the "Dynamic Servo Control" control concept. This can be
used to significantly increase the dynamic stability of the position control loop in application
class 4 with simple means.
For this purpose, the deadtime that is typical for a speed setpoint interface is minimized by
an additional measure (see also chapter "Dynamic Servo Control").
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Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Function Manual