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08.99
Average value
In the "DP slave 611U", the speed setpoint is transferred at instant T
generation for n
in each nth DP clock cycle (n = T
set
In order to eliminate having to trace the setpoint steps, the speed set-
point can be averaged using an average value filter (P1012.8).
5.8.2
Equidistant DP cycle operation in the positioning mode
Overview
The traversing movements can be simultaneously started for several
drives via the clock–synchronous PROFIBUS.
If the traversing blocks have been parameterized the same (travel, ve-
locity, acceleration) in the various drives, then the axes can also move
in synchronism.
Traversing blocks are simultaneously started and synchronous move-
ments of the motion profile are realized precisely in the IPO clock
cycle.
In this case, position differences only result in different following errors
in the axes.
Fig. 5-27 Example: Simultaneously starting the traversing motion
E Siemens AG 2005 All Rights Reserved
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
5 Communications via PROFIBUS DP
5.8
Motion Control with PROFIBUS–DP (from SW 3.1)
v
Axis 1
v
Axis 2
/T
).
MAPC
DP
v:
Velocity
t:
Time
t
t
Interpolation
clock cycle
(IPO clock cycle)
O
5
5-297
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