Technical data
Communication
9.3 Communication via PROFIBUS DP
Function Manual
Function Manual, 06/2012, 6SL3097-4AB10-0BP4
635
9.3.3 Motion Control with PROFIBUS
Motion Control /Isochronous drive link with PROFIBUS
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Figure 9-24 Motion Control/Isochronous drive link with PROFIBUS, optimized cycle with T
MAPC
= 2 ∙ T
DP
Sequence of data transfer to closed-loop control system
1. Position actual value G1_XIST1 is read into the telegram image at time T
I
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
M
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
O
after the beginning of the cycle.