Siemens SINAMICS S120 Series

Communication via PROFIBUS DP
4.3 Motion Control with PROFIBUS
Communication
96 Function Manual, 12/2018, 6SL3097-5BD00-0BP0
Setting criteria for times
● Cycle (T
DP
)
– T
DP
must be set to the same value for all bus nodes.
– T
DP
> T
DX
and T
DP
> T
O
Note
After T
DP
has been changed on the PROFIBUS master, the drive system must be
switched on (POWER ON) or parameter p0972
= 1 (reset drive unit) must be set.
● T
I
and T
O
– Setting the times in T
I
and T
O
as short as possible reduces the dead time in the
position control loop.
– T
O
> T
DX
+ T
Omin
● Settings and tuning can be done using a tool (e.g. HW Config in SIMATIC S7).
Minimum times for reserves
Table 4- 5 Minimum times for reserves
Data
Time required [µs]
Basic load
300
Per slave
20
Per byte of user data
1.5
One additional class 2 master
500