Siemens SINUMERIK 840D sl Commissioning Manual page 276

Configuring PLC-controlled drives
9.2 Configuration via PROFIBUS
8. In the "DP Slave Properties" of the CU320-2 DP under the "Clock synchronization" tab,
activate the option "Synchronize drive to equidistant DP cycle".
9. In the "DP Slave Properties" dialog box, select the "Configuration" tab.
10.Select in the "Overview" the telegrams required for the individual objects (axes and
CU320-2 DP):
– "Siemens telegram 2, PZD-4/4" for example, for speed-controlled axes
– "Siemens telegram 390, PZD-2/2" for CU320-2 DP
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Note
SIEMENS telegram 390 is required for the time stamp of alarms from the PLC.
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA