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Efficient Networks Siemens Sinamics S120 User Manual

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Communication PROFIBUS DP/PROFINET IO 
 
10.3 Communications via PROFINET IO 
 
Drive Functions 
448
 
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 
10.3.4 
Motion Control with PROFINET 
Motion Control/Isochronous drive link with PROFINET 
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Figure 10-48  Motion Control/Isochronous drive link with PROFINET, optimized cycle with CACF = 2  
 
Sequence of data transfer to closed-loop control system 
1.  Position actual value G1_XIST1 is read into the telegram image at time T
IO_Input 
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
CA_Start
 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
IO_Output
 after the beginning of the cycle.