Communication via PROFIBUS
Cyclic communication
4-97
E Siemens AG, 2004. All rights reserved
SINAMICS S120 Installation and Start-Up Manual, 12/04 Edition
NSETP_B (speed setpoint B (32-bit))
S Speed setpoint with a 32-bit resolution with sign bit.
S Bit 31 determines the sign of the setpoint:
– Bit = 0 –> positive setpoint
– Bit = 1 –> negative setpoint
S The speed is normalized via p2000.
NSETP_B = 4000 0000 hex or 1 073 741 824 dec speed in p2000
n
p2000
NSETP_A
NSETP_B
4000 hex
4000 0000 hex
Fig. 4-8 Normalization of speed
Gn_CTW (encoder n control word)
This process data belongs to the encoder interface and is described in Subsec-
tion 4.3.4.
XERR (position deviation)
The position deviation for dynamic servo control (DSC) is transmitted via this set-
point.
The format of XERR is identical to the format of G1_XACT1 (see Subsec-
tion 4.3.4).
KPC (position controller gain factor)
In dynamic servo control (DSC), the position controller gain factor is transmitted via
this setpoint.
Transmission format: KPC is transmitted in the unit 0.001 1/s
Value range: 0 to 4000.0
Special case: When KPC = 0, the “DSC” function is deactivated.
Example:
A2C2A hex 666666 dec KPC = 666.666 1/s KPC = 40 1000/min
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