Siemens SINAMICS Configuration Manual page 115

Bus access method
PROFIBUS uses the token passing method, i.e. the active stations (masters) are arranged in
a logical ring in which the authorization to send is received within a defined time frame.
Within this time frame, the master with authorization to send can communicate with the
assigned slaves and/or with other masters in a master/slave procedure.
PROFIBUS telegram for cyclic data transmission and acyclic services
Each drive unit that supports cyclic process data exchange uses a telegram to send and receive
all the process data. A separate telegram is sent in order to perform all the acyclic services
(read/write parameters) under a single PROFIBUS address. The acyclic data is transferred
with a lower priority after cyclic data transmission.
The overall length of the telegram increases with the number of drive objects that are involved
in exchanging process data.
Sequence of DOs in the telegram
Sequence of drive objects in the telegram
On the drive side, the sequence of drive objects in the telegram is displayed via a list in
p0978[0...24] where it can also be changed.
You can use the STARTER commissioning tool to display the sequence of drive objects for a
commissioned drive system in the project navigator under "Drive unit" > "Communication" >
"Telegram configuration".
When you create the configuration on the controller side (e.g. HW Config), the process-data-
capable drive objects for the application are added to the telegram in the shown sequence
(see above).
The following drive objects can exchange process data:
● Active Infeed (A_INF)
● Basic Infeed (B_INF)
● Control Unit (CU_S)
● ENC
● Smart Infeed (S_INF)
● Terminal Board 30 (TB30)
● Terminal Module 15 (TM15)
● Terminal Module 31 (TM31)
● Terminal Module 41 (TM41)
● Terminal Module 120 (TM120)
● Terminal Module 150 (TM150)
● VECTOR
Industrial Security
Configuration Manual, 08/2017, A5E36912609A
Communication
A.1 Communication
115