Siemens SINAMICS S110 - Page 600

Communication
9.3 Communication via PROFIBUS DP
Function Manual
598 Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Motion Control /Isochronous drive link with PROFIBUS
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Figure 9-23 Motion Control/Isochronous drive link with PROFIBUS, optimized cycle with T
MAPC
= 2 ∙
T
DP
Sequence of data transfer to closed-loop control system
1. Position actual value G1_XIST1 is read into the telegram image at time T
I
before the start
of each cycle and transferred to the master in the next cycle.
2. Closed-loop control on the master starts at time T
M
after each position controller cycle
and uses the current actual values read previously from the slaves.
3. In the next cycle, the master transmits the calculated setpoints to the telegram image of
the slaves. The speed setpoint command NSOLL_B is issued to the closed-loop control
system at time T
O
after the beginning of the cycle.
Designations and descriptions for Motion Control
Table 9- 37 Time settings and meanings
Name Limit Description
T
BASE_DP
250 µs Time basis for T
DP
T
DP
T
DP
≥ T
DP_MIN
DP cycle time
T
DP
= Dx + MSG + RES + GC
T
DP
= integer multiple ∙ T
BASE_DP
T
DP
= 1 ms
T
DP_MAX
=32 ms