Siemens Sinamics S110 Function Manual page 436

Communication PROFIBUS DP
9.1 Communication according to PROFIdrive
Structure of the data cycle
The data cycle comprises the following elements:
1. Global Control telegram (PROFIBUS only)
2. Cyclic part
3. Acyclic part
4. Reserve (PROFIBUS only)
Figure 9-15 Isochronous drive link/Motion Control with PROFIdrive
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– Setpoints and actual values
– Parameters and diagnostic data
– Transmission of token (TTH).
– For searching for a new node in the drive line-up (GAP)
– Waiting time until next cycle
R1 R1
C1 C2 C3
R1 R1 R1 R1 R1
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
R1
Drive functions