Efficient Networks S120 manual Sequence of data transfer to closed-loop control system

Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP

Sequence of data transfer to closed-loop control system

1.Position actual value G1_XIST1 is read into the telegram image at time TI 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 TM 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 TO after the beginning of the cycle.

Designations and descriptions for Motion Control

Table 10-31 Time settings and meanings

Name	Value1)	Limit value	Description
TBASE_DP	5DC hex	-	Time basis for TDP
	≐		calculation: TBASE_DP = 1500 ∙ TBit = 125 µs
	1500 dec		TBit = 1/12 µs at 12 Mbaud
			TBASE_DP corresponds to the largest current controller cycle
			(p0115[0]) of a drive object (servo/vector).
TDP	8	TDP ≥ TDP_MIN	Cycle time
			TDP = integer multiple ∙ TBASE_DP
			calculation: TDP = 8 ∙ TBASE_DP = 1 ms
		TDP_MIN = 8	Min. DP cycle time
			calculation: TDP_MIN = 8 ∙ TBASE_DP = 1 ms
TMAPC	1	n ∙ TDP	Master application cycle time
		n = 1 - 14	This is the time frame in which the master application generates
			new setpoints (e.g. in the position controller cycle).
			Calculation: TMAPC = 1 ∙ TDP = 1 ms
TSAPC			Slave application cycle time
TBASE_IO	5DC hex	-	Time basis for TI, TO
	≐		calculation: TBASE_IO = 1500 ∙ TBit = 125 µs
	1500 dec		TBit = 1/12 µs at 12 Mbaud
			TBASE_IO corresponds to the largest current controller cycle
			(p0115[0]) of a drive object (servo/vector) in the drive unit.
TI	2	TI_MIN ≤ TI < TDP	Time of actual-value sensing
			This is the time at which the actual position value is captured
			before the start of each cycle.
			TI = integer multiple of TBASE_IO
			calculation: TI = 2 ∙ 125 µs = 250 µs
			When TI = 0: TI = TDP
		TI_MIN = 1	Min. TI
			calculation: TI_MIN = 1 ∙ TBASE_IO = 125 µs
			TI_MIN corresponds to the largest current controller cycle
			(p0115[0]) of a drive object (servo/vector) in the drive unit.

Drive Functions	417
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4