Siemens SINAMICS S120 Function Manual page 651

Overview of closed-loop control
● Sensing of the actual position value on the slave can be performed using:
● The encoder interface must be configured in the process data.
● The control loop is closed via PROFIBUS.
● The position controller is located on the master.
● The current and speed control systems and actual value sensing (encoder interface) are
● The position controller cycle is transferred via the fieldbus to the slaves.
● The slaves synchronize their speed and/or current controller cycle with the position
● The speed setpoint is specified by the master.
Drive functions
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
– Indirect measuring system (motor encoder)
– Additional direct measuring system
located on the slave.
controller cycle on the master.
Figure 11-6 Overview of "Motion Control with PROFIBUS" (example: Master and three slaves)
11.1 Communication according to PROFIdrive
Communication
651