DCC editor functionality 2.15 XML exportiimport of DCC charts XML export at project level In SCOUTISTARTER, select Project > Save and export... from the menu or Expert > Save ‘and export project from the context menu, and in the Export Project dialog that appears, use the Browse... button to specify the target directory for the export or enter this directly in the text field Enter taiget drectay forthe export F\Progran Files\Sienens\Step/\S iProfdec_jest\ui\fest Browse. Project path C:AProgran Filos\Siomone\Stop7\s7prokopfuo\Kkoptup °7p F Use optinized exoart format Figure 2-52 Project XML export Click OK to start the export. You can track the progress of the export on the XML. ‘export/import status display tab. I the target directory already exists, you will see the following dialog: ex Mee ee a "C:\Program Files\Siemens\Step\S7Proj\dec_test\u7\sasa\test\" The tage drectay akeary includes a fie with the name "koofup al ora rectory wih the namo "ML_kopfup" Do you want to continue withthe export and overurte the eristine date? Figure 2-53 XML export - Error message Choose Yes to overwrite the data in the target directory or No to cancel the export SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3087-4AN0O-0BPO 101DCC editor functionality 2.15 XML exportimport of DCC charts XML export at DCC chart level XML import 102 Select the DCC chart you wish to export in the project navigator, then select Expert > Save project and export object from the context menu in SCOUT/STARTER .In the dialog that appears next (Export object), use the Browse... button to specify the target directory for the ‘export or enter this directly in the text field Click OK to start the export, You can track the progress of the export on the XML ‘export/import status display tab. Note DCC charts that were exported frm SCOUT/STARTER cannot be imported into the SIMATIC Manager. DCC charts and DCC libraries can be individually exported from SCOUT/STARTER and reimported into a SCOUT/STARTER project. They have the same layout after the import as. they did before the export. No information is lost from the DCC chart, i.e the subcharts, library information, sheet bar interconnections, execution groups, alias definitions, p21000 settings, and know-how protection are all retained during an XML exportimport. Know-how protection can be revoked after the import, making it possible to edit the charts again. You also have the option of importing a previously exported DCC chart into an existing chart When importing DCC charts, a distinction is made between importing a DCC chart and importing into an existing DCC chart ‘© Container in project navigator -> Expert -> Import object © DCC chart > Export/import object For an XML import, proceed as follows: In the project navigator, select the object into which you wish to import, and then select, Expert > Import abject from the context menu in SCOUT/STARTER. In the dialog that appears next (Import object), use the Browse... button to specify the source directory for the import or enter this directly in the text field, SINAMICSISIMOTION DCC editor description Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPODCC editor functionality 2.15 XML exportlimport of DCC charts a ASiemens\Step/\S 7Profidec_test\u7\sesaltest\DOC_2.ml Tee Figure 2-54 XML import Click OK to close the dialog. In the Import object dialog shown below, use the OK button to start the import or the Cancel button to cancel the import. Figure 2-55 XML import warning SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3087-4AN0O-0BPO 103DCC editor functionality 2.15 XML exportimport of DCC charts See also 104 You can track the progress of the import on the XML export/import status display tab. Note Itis possible to exportiimport DCC charts even if the chart in the current project has not been ‘compiled or cannot be compiled without errors. If the DCC chart has not been compiled so that itis up to date before the exporvimpor, then the imported DCC chart will be empty or will not be up to date. Even in this case, DCC charts can still be imported without any information being lost, provided that the libraries used in the chart are not yet installed or were imported on the program container. Reinstall the SIMOTION libraries by selecting Options > Install Iraries... or by selecting Select technology packages... rom the context menu in the case of SINAMICS. ‘The XML export/import can be carried out for both DCC charts with existing DCC chart sources and DCC charts without DCC chart sources, Ifthe DCC chart sources are not available in a project because the DCC charts were ‘obtained as a result of an upload from the target device or copying without a DCC license, or the DCC chart sources were explicitly deleted, the DCC chart is exported and imported without chart sources. The DCC chart that is created in this way can be loaded and compiled. You can select Block types from the context menu to exchange the version of the subordinate basic DCB libraries Exchanging the basic library version for installed libraries (Page 51) SINAMICSISIMOTION DCC editor description Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPODCC editor functionality 2.16 XML exportiimport of DCC libraries 2.16 XML export/Import of DCC Ilbrarles DCC libraries can be exported/imported in their entirety. Alternatively, itis possible to perform an XML export of individual DCC blocks from the DCC library and an XML import into a DCC library. Data that is specific to the library (description of block connections, comments, block family, etc.) is exportedrimported along with i Before the library sources are deleted, a check is performed to determine whether the libraries have been compiled so that they are up to date. As of SCOUT/STARTER 4.2, DCC. chart sources are always exported/imported too if they are available on the library sources. SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3087-4AN0O-0BPO 105DCC editor functionality 2.17 Reading back DCC chart sources from the target device 217 Reading back DCC chart sources from the target device In DCC 2.0, DCC charts can be read back from the target device and loaded to another target device of the same type. To enable the DCC charts to be edited further, the DCC chart sources must be present in the original project. As of DCC 2.1, DCC charts for which no up-to-date DCC chart sources or no DCC chart ‘sources at all are present can be uploaded from the target device and read back to the DCC editor. Chart sources for DCC libraries (typicals) are downloaded/uploaded via the library context menu. They are uploaded as part of the project uploading process. Procedure Under Options > Settings in SCOUT, select the Download tab and activate the Include DCC. chart data check box underneath the Store additional data on the target device check box to load the DCC chart sources to the target device. LS CPuldowsed =| LADUFBDodir =| DC wits] Sao \Waiktench | Fight | Conpler | ST edlor/soyptng | STeemaloitor —Comibai Pret eld op <$$$$$=$_$_$_$_$__ i one Compile al pecans befoeescing I Chast constancy bese eeang Activate HMI consistency chock [Alter isading copy RAM to ROM FF raesion of tie ror-RETAIN technolo chiect data raesion of the ror-RETAIN crags dale an the ror-RETANN glib device vibes 1 Intaizaton ol he RETAIN erogra dais and RETAIN clobal device varies Note: Tie acon has no etlect when nacing tothe fle system F Load wthout Hi corfigzaton IF store adiona data onthe targe deve FF Inotcng ICC chart date ak Abbrasren | Obemehmen Hite Figure 2-58 Storing additional data and sources on the target device - SCOUT SINAMICSISIMOTION DCC editor description 106 Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPODCC editor functionality 2.17 Reading back DCC chart sources from the target device In STARTER, under Options > Settings, select the Download tab and activate the Store additional data on the target device check box to download the DCC chart sources to the target device. ‘Wakiench Langage Soanbed [CPU dood IF orgie a pregane bio leadng F Aeiloadng ccey MAN to POW Noe: Thi acon has no fact when acing tthe fete IF ter atonal date onthe target deve ite Th] Aber Figure 2-57 Storing additional data and sources on the target device - STARTER During the CPU download, you can also select whether the DCC chart sources are to be downloaded to the target device for the CPU ‘The default setting for the CPU-specific option is taken from Options > Settings -> Download. The option selected for the CPU is then saved as the default setting for the next download. ‘Once you change the option under Options > Settings -> Download, this is regarded as the default setting for all CPUs. SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3087-4AN0O-0BPO 107DCC editor functionality 2.17 Reading back DCC chart sources from the target device iL) The data will be downloaded to the target system! Load CPU without dive wt IF Stee aciona cats on the tage! cece I incudng DCC chan ts 1 kesloadng copy RAM to ROM F Fotarn dammed dina Stat downs? ec Adonal CPU apne TF Resace oduct versions ofthe technolo packazes FF Intalaton ofthe non RETAIN lecelogy bie dt IF Intsston ofthe nonRETAIN pogan da and the ren RETAN gal device vate 1 Iniaiaion ofthe RETAIN croran date ard RETAIN gal deve vaatier Lead itor HW confguaton See eel Figure 2-58 Downloading to the target device - SCOUT zm LL) The date of tho dive untill be downloaded TT Ste sdtral ata on horace covion Freeh cr cher dae IF fteoatvg. cop FA 1 OM. Stat colons? 1 es Figure 2-59 Downloading to the target device - STARTER SINAMICSISIMOTION DCC editor description 108 Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPODCC editor functionality 2.17 Reading back DCC chart sources from the target device Ifyou deactivate the Store additional data on the target device option, the chart sources in the target device are deleted during the next download. Iyou activate the Store additional data on the target device option, the chart sources of the DCC libraries are downloaded to the target device, which are used in the DCC charts of the CU or CPU, If DCC charts are available on the target device, the project is saved following upload. If different versions of the same library are downloaded to different target devices with chart sources, you need to specify during the upload whether the library sources in the project should be overwritten, EE © Load target deviceta PE Note: For successfulloading to the FO, the addtional date musi have beer stored on the lige system. The objectsin the offine project are overwritten. Objects that ate only present affine ate deleted, This can resuitin that the project can no longer be compied after loadinato the PG. tis, therefore econmerded that he saved before loading. Ifthe target device contains DCC charts the projectis sutomaicaly saved after loading to the PG. Inthis caseitis recommended that you create a backup copy ofthe project Open ediors [not DCC} ae closed without saving, M Savebefor loating ts PS I Overwite avaieble ibranes © Onl load contiguiaion to PG. Note: Thete may be changed curent deta (configuation data) inthe target device. You can tansfe this fer toloading wih "Copy current datato FM! Transfer current data to RAM ok Cancel fe Figure 2-60 Downloading target device to PG - SCOUT SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3097-4ANOO-0BPO 109DCC editor functionality 2.17 Reading back DCC chart sources from the target device Rein E theta dor tan Occ dats, FB projets avd Meet lers utes: canner ay essen ee ¥ Overwrte avaleble DCC libraries The data will be loaded to the PG. De you want to start the loading operation? ves No Figure 2-61 Downloading target device to PG - STARTER Note In the project comparison, DCC charts are displayed differently following read-back (inc! DCC chart sources), as the DCC chart sources are recreated and therefore have a different time stamp, Conditions If the DCC chart is not open, the chart source will be updated automatically when the project is read back. * ICC charts are open in the editor during the project upload, the chart sources will not be updated automatically in the editor. in editor mode, the chart that has been read back can be updated from the CFC using function key F5. ‘© The chart must not be in test mode while it is being read back * ifthe chart sources are not present in SCOUT/STARTER, the DCC chart sources will be created automatically after the project has been uploaded. ‘© During the project upload, DCC charts with the same name that are already present in the the engineering system will be overwritten, Ifthe chart names are the same, DCC sources with know-how protection overwrite existing chart sources during the upload to the engineering system IDCC libraries are restored when the DCC chart sources are read back, SINAMICSISIMOTION DCC editor description 110 Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPODCC editor functionality 2.17 Reading back DCC chart sources from the target device ‘* The layout of the charts after the read-back process is the same as when they were edited The positions of the block instances are restored and comments are available in the same position as they were before, ‘* Block positions that have been changed online are taken into account during the read- back process. ‘The process of reading back DCC charts does not take the SIMOTION/SINAMICS firmware version into account. The additional data for the read-back process must have been loaded ‘Additional data for DCC charts can be created and loaded as of DCC ‘When charts with know-how protection are read back, the know-how protection for the DCC. charts is restored in the engineering system. Changes that have been made online in DCC test mode are taken into account when DCC. chart sources are read back. The following restriction applies if you do not have a DCC license/the CFC has not been. installed '* DCC charts can be uploaded and loaded back onto the target device, but they can no longer be edited - even if the CFC is installed or a DCC license is made available after this. Note Up to STARTERISCOUT V4.1.5, the process of reading back BICOs/parameters for DCC SINAMICS had to be explicitly initiated from the editor after the project had been read back from the target device With STARTER/SCOUT V4.2, however, the BICOs/parameters are automatically read back when the project is read back into the DCC chart. SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3087-4AN0O-0BPO 1DCC editor functionality 2.17 Reading back DCC chart sources from the target device SINAMICSISIMOTION DCC editor description 112 Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPODCC for SINAMICS 3 3.1 3.44 3.12 Overview Introduction This product brief is intended for first-time users who are not yet familiar with the DCC. program package. Using a short example, you will find out how to create a new DCC, interconnect DCBs (drive control blocks; function blacks), compile the chart, download it to the target device and test it, Note In most cases, there are a number of options for working with the DCC editor (e.g. using the keyboard). In this example, one option is used. Apart from a few exceptions, no alternative methods of operation are explored here. Note ‘The SINAMICS documentation relates to Version 4.4. Software requirements ‘The software requirements for DCC are the same as those for SINAMICS STARTER. You will additionally need: * DCC SINAMICS software option package Note ‘The DCC SINAMICS option package contains on a USB stick the Step7 CFC license required for the DCC editor. The installation is made using the Step7 Automation License Manager (refer to the help of the Step7 Automation License Manager). The Step7, ‘Automation License Manager program is installed automatically together with STARTER, ‘When the product is supplied, the DCC technology option is not yet available on the drive unit. The DCC technology option must be loaded onto the drive unit's CF card in a separate operation using SIMOTION SCOUT or STARTER, The SINAMICS CU3x0, SINAMICS CUD or the SIMOTION D4xx then must be switched off and on once. Only then can the DCCs be downloaded and run on the drive objects. There is only ever one DCC on a drive abject. DCC can be activated simultaneously on several drive objects on a drive unit. DCC is not available on SINAMICS $110 drive units (CU305 module) SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3087-4AN0O-0BPO 113,DCC for SINAMICS 3.1 Overview 1 Application 114 SINAMICS system integration Applications and features A logic operation, which connects several states (e.g. access control, plant status) to a control signal (e.g. ON command), is required for controlling the drive system in a wide variety of applications. As well as logic operations, a number of arithmetical operations / storing elements are increasingly becoming a requirement in drive systems, Note This additional functionality increases the computing time load, This means that the maximum possible configuration for a Control Unit is restricted. Drive Control Chart (DCC) functionality is available for every drive object of the drive unit listed In the following table. Table 3-1 Drive object types for DCC SINAMICS, Drive object type Object number (10107) _| Meaning cus. 1 ‘Control Unit SINAMICS § (SINAMICS 812018150) cus 2 ‘Control Unit SINAMICS G (SINAMICS 6130/6150) cul 3 Control Unit SINAMICS integrated ‘cU_cx32, 4 ‘Controller Extension for boosting the computing performance ‘cU_GM 5 ‘Control Unit SINAMICS GM ‘cu_pe 6 SINAMIGS DG MASTER Control Unit CULGL 7 ‘Control Unit SINAMICS GL cust 101 ‘Control Unit SINAMICS SL ALINE 10 ‘ative infeed contro! SERVO 7 ‘Servo control VECTOR 12 Vector control VECTORMV, 13 Vector control for SINAMICS GM VECTORGL 14 Vector control for SINAMICS GL VECTORSL 16 Vector control for SINAMICS SL DG_CTRL 7 Closed-loop control for DC drives SLINF 20 ‘Smart infeed control BLINF 30 Basic infeed control ALINFMV, 40 ‘Active infeed control for SINAMICS SM150 B_INFMY, “1 Basic infeed control for SINAMICS GM150 SINAMICSISIMOTION DCC editor description Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPODCC for SINAMICS 3.1 Overview Drive object type Object number (10107) _[ Meaning 7830) 100) ‘Terminal Board 30 T™M31 200, Terminal Module 34 Twat 201 ‘Terminal Module 41 TMISDIDO 204 ‘Terminal Module 15 (for SINAMICS) T™M120 207 ‘Temperature evaluation with safe electrical isolation DO encoder 300 Drive object encoder 3.1.3.2 Execution groups in the DCC editor Description Exactly one DCC can be created per drive abject (D0 up to ten execution groups. (rive object). This DCC can contain Execution groups In the DCC editor Execution groups are groups of blocks. The blocks of an execution group are started in a defined sequence at a specified time and are calculated cyclically one after the other within a specified sampling time. In the DCC editor a maximum of ten execution groups (execution group 1 to 10) can be defined per drive object (DO) and thereby per basic chart (see also: SINAMICS system integration > Execution sequence, creating new execution groups). In the project navigator of STARTER / SCOUT (context menu of the chart, menu command Set executlon groups .. fixed or free execution groups of the drive object can be assigned to the previously defined execution groups. Note The Interconnection with executlon group... command is only supported with DCC Simotion /\ WARNING If the assignment of an execution group is changed in the Set executlon groups window (or in parameter p21000]]), the affected execution group is initially logged off during time slice management and then logged on once again with the new assignment. The execution group is not calculated during the period between logging off and logging back on. The log- Jon and log-off take place in a background process of the drive unit; the duration is therefore not defined and is determined by the current CPU time load of the drive unit. (This affects [the path of the output signal in the case of time-dependent blocks, e.g. the DIF differentiator) Prior to the frst calculation cycle after logging back on, internal status variables of the blocks are partially reset. For both of these reasons, this can result in jumps in the output signal of blocks, which for example can affect the torque/force setpoint and (in the case of operated axes) also the torque/actual force value. Logic signals can also [acquire an unexpected state at this point of operation. SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3097-4ANOO-0BPO 115DCC for SINAMICS 3.1 Overview 116 If the change to the execution group also results in a change to the sampling time, internal constants or factors are automatically adjusted for time-dependent blocks (BF, DCA, DIF, DT1, INT, MFP, PCL, PDE, PDF, PIC, PST, PT1, RGE, RGJ, WBG). Note that the execution groups created in the chart are only visible in the Set execution groups window after the chart has been compiled. In the offine mode of the STARTER / SCOUT V4.1.x, 21002 and r21003 are always displayed with the value 0 in the Set Executlon Groups window. Sa 2 Sale oeretter peirear a eee DO Corea pect (RC =] 22000 . | : | ashabiateel arate 2100} O00 we osabineee Stowe Zetschebon1IE NN is Comal Figure 3-1 Set Executlon Groups window The execution groups created in the DCC editor must be assigned to the "Fixed execution ‘groups and the "Free execution groups" of the SINAMICS drive object. Note For parameter p21000 (Properties execution group) and, therefore, in the context menu of the "Set sampling times” chart, write access for the enabled controller is blocked in at least ‘one drive axis or infeed. The old value automatically takes effect again in this case. If necessary, switch off all drive axes and infeeds, and make a new attempt. SINAMICSISIMOTION DCC editor description Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPODCC for SINAMICS 3.1 Overview 31.33 Fixed execution groups Fixed execution groups ‘A “fixed execution group" is called at a fixed position in the system execution using the sampling time of the corresponding system function. The following fixed execution groups are available for SINAMICS as of FW Version 2.5: * Read In AFTER digital Inputs This execution group is called after the current values of the digital inputs have been read in on this drive object type and the corresponding binector outputs have been written The sampling time ofthis execution group corresponds to the sampling timo of the CU inputs/outputs (p0799) or the digital inputs/outputs of the TB30, TM31 and TM41 (p4099(0). ‘© Output BEFORE digital outputs This execution group is called before the digital outputs are output on this drive object type. The sampling time ofthis execution group corresponds to the sampling timo of the CU inputs/outputs (p0799) or the inputs/outputs of the TB3O, TM31 and TM41 (p4099(0), Read In AFTER analog Inputs This execution group is called after the current values of the analog inputs have been read in on this drive object type and the corresponding binector outputs have been written. The sampling time of this execution group corresponds to the sampling time of the inputs/outputs of the TB30, TM31 and TM41 (409911), © Output BEFORE anabg outputs This execution group is called before writing is performed on the analog outputs. Tho sampling time of this execution group corresponds to the sampling time of the inputs/outputs of the TB30, TM31 and TM41 (409911) ‘* BEFORE speed controller This execution group is called before the speed controller additional setpoint values "n_reg n_set" (p1155) and "n_reg n_set2" (p1160) are read into FP3080. The sampling time of the speed controller (p0115[1]) produces the call, but a minimum sampling time of 1 ms is required. ‘* BEFORE speed setpoint channel This execution group is called before function block diagrams 3010, 3020, 3030, 3040 and subsequent charts are calculated, if the setpoint channel has been activated (p0108.8 = 1). If no setpoint channel has been configured (p0108.8 = 0), calculation takes. place before function block diagram 3095. The setpoint channel sampling time produces the call (p0115(3)), SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3087-4AN0O-0BPO 7DCC for SINAMICS 3.1 Overview 118 BEFORE posttion controller This execution group is called after the actual position value preparation (function block diagram 4010) has been calculated and before the position controller (function block diagrams 4015, 4020 and 4025) is calculated. The sampling time of this execution group corresponds to the sampling time of the position controller (p0115/4]).. BEFORE actual position value This execution group is called before the actual position value preparation (function block diagram 4010) and the position controller (function block diagrams 4015, 4020, and 4025) are calculated. The sampling time of this execution group corresponds to the sampling time of the position controller (p01 15{4]). (Available as of V4.3). BEFORE baskc positioner This execution group is called before the basic positioner function module (function block. diagrams 3610 to 3650) is calculated. The sampling time of this execution group corresponds to the sampling time of the basic positioner function module (p0115[5)). BEFORE standard technology controller This execution group is called before the technology contraller function module is calculated (p0108,16 = 1) (function block diagrams 7950, 7954 and 7958). The sampling time of this execution group corresponds to the sampling time of the technology controller (por18(6). SINAMICSISIMOTION DCC editor description Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPODCC for SINAMICS 3.1 Overview ‘© Recelve AFTER IF1 PROFidrlve PZD "! This execution group is called after cyclic process data has been received via communication interface IF (e.g. via the integrated PROFIBUS interface) and output to connector outputs r2050[. ], r2060[.., binector outputs r2090 - r2093 and connector binector transformers r2094 and 2098. The sampling time of this execution group corresponds to the PROF drive PZD sampling time. As of SINAMICS FW Version 2.5, communication interface IF1 (Interface 1) is always used by the PROFIBUS interface inside the CU or, if a CBE20 has been inserted in the option slot, PROFINET. Parameter p0092 can be used to set whether the utilization calculation (r9976) evaluates the execution group for isochronous operation (p0092 = 1) or non-isochronous operation (p0092 = 0) during SINAMICS ramp-up. Non-lsochronous operation (r2043.1 = For SINAMICS software verslons V2.5 and V2.6, the PROFIBUS data is sent and received immediately after each other at the start of the IF1 PROF drive PZD sampling time. At the start of the IF1 PROFldrive PZD sampling time set in p2048, the PROFIBUS data is sent first and then the process data received. In the case of non-isochronous cyclic communication at the IF1 communication interface, the execution group is cyclically calculated with the sampling time of the IF1 communication interface (p2048), i. after writing the connector outputs for the process data (PZD) r2050[.., r2060]..], 2090 - r2093, and after calculating the connector binector transformer r2094 and r2095. As of SINAMICS software version V4.3, the PROFIBUS data is received and sent at two separate times. The process data is received at the start of the IF PROFldrive PZD sampling time set in p2048. In the case of nor-isochronous cyclic communication at the IF1 communication interface, the execution group is cyclically calculated with the sampling time of the IF1 communication interface (p2048) after receiving the data, i.. after writing the connector outputs for the process data (PZD) r2050[.., r2060[..], 2090 - 2093 and after calculating the connector binector transformer r2084 and r2095. (== factory For calculating the utilization of system r9976 correctly, p092 must be = selting) in non-isochronous operation, Isochronous operation (r2043.1 = 1): In isochronous operation, the times at which the data is received from the master (Ts), the data is sent to the master (Ti) and the DP cycle time (Tor) 9 are configured in the master. Internally, the calls to To and Ti are realized using a state machine that is called cyclically with sampling time Tru, e.g. for standard servo drive objects with the current controller sampling time of 125 us. The sampling time Tzu = 125 ps, however, is at least as large as the largest current controller sampling time (e.g. for the vector, 250 u's, 375 us or 500 js) SINAMICSISIMOTION DCC editor description Programming and Operating Manual, 11/2010, 6SL3087-4AN0O-0BPO 119DCC for SINAMICS 3.1 Overview This means only integer multiples of Tz. >= 125 us can be set ® as times T; and To for the drive. T= y+ Tau Two = 2% Top Position contrat fe 4 cycle Too Mast Tox alle position contraler #——] W Current control cele ttl Slave = HAAG T, To nL te / 1 Provide receive Receive runtime data shortly ‘foup AFTER Ft betore T, PROFidrve PZD Figure 3-2 Calling the "Receive AFTER IF1 PROF Idrive PZD" or “Receive AFTER IF2 PROFldrive PZD" execution group for isochronous PROFIBUS communication. See also ®, Receive data (sent by the master) is always processed and made available at the end of the sampling time (ns -1) Tz., So that the received process data remains valid until the start of the next sampling period at the time To = no * Tzy at r2050f..],2060}..], 2090 - 2093. Thus, in the last sampling time Tz, before To. The "Receive AFTER IF1 PROF drive PZD" execution group is then calculated in the following first sampling time Tas after Ts Note Please take note that two connector-binector converters (function plan 2468: p2099, 2094, r2095) are NOT called synchronously in isochronous mode but may be processed within sampling time p2048 at any time depending on the computing time utilization. SINAMICSISIMOTION DCC editor description 120 Programming and Operating Marval, 11/2010, 8SL3087-4ANOO-OBPO