Motion Control With Profibus - Siemens SINAMICS S120 Function Manual

11.2.3

Motion Control with PROFIBUS

Motion control / isochronous drive coupling with PROFIBUS
Figure 11-16 Motion control / isochronous drive coupling with PROFIBUS, optimized cycle with T
Sequence of data transfer to closed-loop control system
1. The actual position value G1_XACT1 is read into at time T
2. The closed-loop control of the master starts at time T
3. In the next cycle, the master forwards the calculated setpoints to the slaves. The speed
Drive functions
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
and transferred to the master in the next cycle.
and uses the transferred actual value in the telegram.
setpoint command NSET_B is issued to the closed-loop control system at time T
the beginning of the cycle.
11.2 Communication via PROFIBUS DP
= 2 ∙ T
MAPC
before the start of each cycle
I
after each position controller cycle
M
Communication
DP
after
O
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