Siemens SINAMICS S120 Series - Page 135

Communication via PROFINET IO
5.4 Motion Control with PROFINET
Communication
Function Manual, 12/2018, 6SL3097-5BD00-0BP0
133
Designations and descriptions for motion control
Table 5- 4 Time settings and meanings
Name
Limit value
Description
T
DC_BASE
- Time basis for cycle time T
DC
calculation:
T
DC_BASE
= T_DC_BASE · 31.25 µs = 4 · 31.25 µs = 125 µs
T
DC
T_DC_MIN ≤ T_DC ≤
T_DC_MAX
Cycle time
T
DC
= T_DC · T
DC_BASE
,T_DC: integer factor
CBE20:
T
DC_MIN
= T_DC_MIN · T
DC_BASE
= 4 · 125 µs = 500 µs
T
DC_MAX
= T_DC_MAX · T
DC_BASE
= 32 · 125 µs = 4 ms
X150 (CU3x0-2 PN):
T
DC_MIN
= T_DC_MIN · T
DC_BASE
= 2 · 125 µs = 250 µs
T
DC_MAX
= T_DC_MAX · T
DC_BASE
= 32 · 125 µs = 4 ms
T
CACF
CACF = 1-14 IO controller application cycle time
This is the time frame in which the IO controller application generates new
setpoints (e.g. in the position controller cycle).
Calculation example:
T
CACF
= CACF · T_DC = 2 · 500 µs = 1 ms
T
CA_Valid
T
CA_Valid
< T
DC
Time, measured from the beginning of the cycle, at which the actual val-
ues of all IO devices for the controller application process (position con-
trol) are available.
T
CA_Start
T
CA_Start
> T
CA_Valid
Time, measured from the beginning of the cycle, at which the controller
application process (position control) starts.
T
IO_BASE
Timebase for T
IO_Input
, T
IO_Output
T
IO_BASE
= T_IO_BASE · 1 ns = 125000 · 1 ns = 125 µs
T
IO_Input
T_IO_InputMIN ≤
T_IO_Input < T_DC
Time of actual value acquisition
This is the time at which actual values are acquired before a new cycle
starts.
T
IO_Input
= T_IO_Input · T
IO_BASE
T_IO_Input: integer factor
T
IO_InputMIN
Minimum value for T
IO_Input
Calculation: T
IO_InputMIN
= T_IO_InputMIN · T
IO_BASE
= 375 µs
T
IO_Output
T_IO_Output_valid +
T_IO_OutputMIN ≤
T_IO_Output < T_DC
Time of setpoint transfer
This is the time, calculated from the beginning of the cycle, at which the
transferred setpoints (speed setpoint) are accepted by the closed-loop
control system.
T
IO_Output
= T_IO_Output · T
IO_BASE
T_IO_Output: integer factor
T
IO_OutputMIN
Minimum value for T
IO_Output
Calculation: T
IO_OutputMIN
= T_IO_OutputMIN · T
IO_BASE
= 250 µs
T_IO_Output_valid The time after which the new control output data (setpoints) is available
for the drive object.
Dx Data_Exchange
This service is used to implement user data exchange between the IO
controller and IO device 1 - n.
R or Rx
Computation time, current or position controller