Dear all,

I am finding it very difficult to understand the bus cycle clock and tasks in simotion controller.

From a Codesys controller perspective, each drive works with its motion controller in CSP mode wherein controller will issue the position setpoint every communication cycle(say 4ms). The drive will try to reach the setpoint position within the next cycle. In-between points will be calculated in the drive(250us). See the attached image

In simotion there are different cycles rather than a single communication cycle. How does it operate. Suppose a position move command to move a complete rotation  is issued from the logic, how the process is split-up in these cycles in simotion(DP cylce,Servo,IPO,IPO_2)?

Can someone explain the concept