Communication
9.2 Communication according to PROFIdrive
Function Manual
574 Function Manual, 01/2011, 6SL3097-4AB10-0BP3
9.2.3.6 Motion Control with PROFIdrive
Description
The "Motion Control with PROFIBUS" or "Motion Control with PROFINET" function can be
used to implement an isochronous drive link between a master and one or more slaves via
the PROFIBUS field bus or an isochronous drive link via PROFINET.
Note
The isochronous drive link is defined in the following documentation:
Reference: /P5/ PROFIdrive Profile Drive Technology
Properties
● No additional parameters need to be entered in addition to the bus configuration in order
to activate this function, the master and slave must only be preset for this function
(PROFIBUS).
● The master-side default setting is made via the hardware configuration, e.g. B. HWConfig
with SIMATIC S7. The slave-side default setting is made via the parameterization
telegram when the bus is ramping up.
● Fixed sampling times are used for all data communication.
● The Global Control (GC) clock information on PROFIBUS is transmitted before the
beginning of each cycle.
● The length of the clock cycle depends on the bus configuration. When the clock cycle is
selected, the bus configuration tool (e.g. HWConfig) supports:
– High number of drives per slave/drive unit → longer cycle
– Large number of slaves/drive units → longer cycle
● A sign-of-life counter is used to monitor user data transfer and clock pulse failures.
Overview of closed-loop control
● Sensing of the actual position value on the slave can be performed using:
– Indirect measuring system (motor encoder)
– Additional direct measuring system
● The encoder interface must be configured in the process data.
● The control loop is closed via the PROFIBUS.
● The position controller is located on the master.
● The current and speed control systems and actual value sensing (encoder interface) are
located on the slave.
● The position controller clock cycle is transmitted across the field bus to the slaves.
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