Siemens SINAMICS S120 - Rules for Isochronous Mode

Basic information about the drive system
13.12 System rules, sampling times and DRIVE-CLiQ wiring
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
1009
Vector control / V/f control
● For drives with vector control, a current controller sampling time between 125 µs and 500
µs can be set (125 µs ≤ p0115[0] ≤ 500 µs). This also applies to operation with V/f
control.
● For vector control and vector control, V/f control modes, and when using a sine-wave filter
(p0230 > 0), it is only permissible to change the current controller sampling time of the
DO involved in multiple integer steps of the default value on account of the design of the
sine-wave filter.
● The fastest sampling time of a drive object in vector control mode is obtained as follows:
– T
i
= 250 µs: Max. three drive objects in vector control
– T
i
= 375 µs: Max. four drive objects in vector control
– T
i
= 400 µs: Max. five drive objects in vector control
– T
i
= 500 µs: Max. six drive objects in vector control
Note
Restriction of the number of axes for chassis in vector control
For active edge modulation / optimized pulse patterns and active wobbling, only half the
number of axes is permitted.
● The fastest sampling time of a drive object in V/f control mode is obtained as follows:
– T
i
= 500 µs: Max. 12 drive objects in V/f control mode
● When vector control is operated together with vector control, V/f control, a maximum of 11
axes is possible (ALM, TB and TM additionally possible).
Safety functions
● Only Single Motor Modules are permissible for servo axes with a current controller
sampling time T
IReg
≤ 62.5 μs with the "Safety sensorless" functionality.
13.12.3.2
Rules for isochronous mode
Note
PROFIBUS legend
T
dp
= PROFIBUS cycle (also DP cycle)
T
mapc
= master application cycle time
T
i
= Input Time (German time of incorporation of actual value)
T
o
= Output Time (German time for setpoint value specification)