Technical data

Communication
9.2 Communication according to PROFIdrive
Function Manual
Function Manual, 06/2012, 6SL3097-4AB10-0BP4
609
Overview of closed-loop control
● Sensing of the actual position value on the slave can be performed using:
– Indirect measuring system (motor encoder)
– Additional direct measuring system
● The encoder interface must be configured in the process data.
● The control loop is closed via the PROFIBUS.
● The position controller is located on the master.
● The current and speed control systems and actual value sensing (encoder interface) are
located on the slave.
● The position controller clock cycle is transmitted across the field bus to the slaves.
● The slaves synchronize their speed and/or current controller cycle with the position
controller cycle on the master.
● The speed setpoint is specified by the master.
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Figure 9-15 Overview of "Motion Control with PROFIBUS" (example: master and 3 slaves)