Technical data

Communication
9.3 Communication via PROFIBUS DP
Function Manual
636 Function Manual, 06/2012, 6SL3097-4AB10-0BP4
Designations and descriptions for Motion Control
Table 9- 37 Time settings and meanings
Name Limit Description
T
BASE_DP
250 µs Time basis for T
DP
T
DP
T
DP
≥ T
DP_MIN
T
DP_MIN
≤ T
DP
≤ T
DP_MAX
DP cycle time
T
DP
= Dx + MSG + RES + GC
T
DP
= multiple integer ∙ T
BASE_DP
T
DP_MIN
= 1 ms
T
DP_MAX
=32 ms
T
MAPC
Master application cycle time
This is the time frame in which the master application generates new
setpoints (e.g. in the position controller cycle).
T
MAPC
= integer multiple * T
DP
T
BASE_IO
250 µs Time basis for T
I
, T
O
T
I
T
I_MIN
≤ T
I
< T
DP
Time of actual-value sensing
This is the time at which the actual position value is captured before the
start of each cycle.
T
I
= integer multiple of T
BASE_IO
T
I_MIN
corresponds to the current controller clock cycle of the drive object
(servo) in the drive unit (= 250 µs).
T
O
T
DX
+ T
O_MIN
≤ T
O
≤ T
DP
Time of setpoint transfer
This is the time at which the transferred setpoints (speed setpoint) are
accepted by the closed-loop control system after the start of the cycle.
T
O
= integer multiple of T
BASE_IO
T
O_MIN
corresponds to the speed controller cycle of the drive object
(servo) in the drive unit (= 250 µs).
T
DX
T
DX
< T
DP
Data exchange time
This is the time required within one cycle for transferring process data to
all available slaves.
T
PLL_W
- PLL window
T
PLL_D
- PLL delay time
GC Global Control Telegram (Broadcast Telegram)
Dx Data_Exchange
This service is used to implement user data exchange between master
and slave 1 - n.
MSG Acyclic service
This service is used to implement user data exchange between master
and slave 1 - n on an acyclical basis.
RES Reserve: "Active pause" until the isochronous cycle has expired
R Calculation time for speed or position controller in the master or slave
T
M
Master time
Start of closed-loop master control