Siemens SINAMICS S120 Function Manual page 391

Figure 10-18 Overview of "Motion control with PROFIBUS" (example: master and 3 slaves)
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)
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
– 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
Communication PROFIBUS DP/PROFINET IO
10.1 Communications according to PROFIdrive
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