Siemens SINAMICS G150 Operating Instructions Manual page 317

Application class 4 (central motion control)
This application class defines a speed setpoint interface, where the speed control is realized
in the drive and the positioning control in the control system, such as is required for robotics
and machine tool applications with coordinated motion sequences on multiple drives.
Motion control is primarily implemented using a central numerical controller (CNC). The
position control loop is closed via the bus. The synchronization of the position control cycles
in the open-loop and closed-loop controllers in the drives requires clock synchronization of
the kind provided by PROFIBUS DP and PROFINET IO with IRT.
Figure 6-32
Selection of telegrams as a function of the application class
The telegrams listed in the table below can be used in the following application classes:
Table 6- 13 Selection of telegrams as a function of the application class
Telegram
(p0922 = x)
1 Speed setpoint, 16 bit
2 Speed setpoint, 32 bit
3 Speed setpoint, 32 bit with 1 position encoder
4 Speed setpoint, 32 bit with 2 position encoders
5 Speed setpoint, 32 bit with 1 position encoder and DSC
6 Speed setpoint, 32 bit with 2 position encoders and DSC
7 Positioning, telegram 7 (basic positioner)
Converter cabinet units
Operating Instructions, 03/2012, A5E03263466A
Application class 4
Description
6.7 Communication according to PROFIdrive
Class 1 Class 2
x x
x x
x
Operation
Class 3 Class 4
x
x
x
x
x
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