Motion Control With Profibus - Siemens Sinamics S110 Function Manual

Communication PROFIBUS DP
9.2 Communication via PROFIBUS DP
9.2.3

Motion Control with PROFIBUS

Motion Control /Isochronous drive link with PROFIBUS
Figure 9-21
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
458
Motion Control/Isochronous drive link with PROFIBUS, optimized cycle with T
T
DP
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
after each position controller cycle
M
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
= 2 ∙
MAPC
before the start
I
Drive functions