Position Deviation Xerr in Telegram 105

Kataeb

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K
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Jan 2007
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www.livelovelebanon.com
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In Profinet (or Profibus) communication between S7-1500T (or Simotion) controller and S120 () drives, and when working with DSC (Dynamic Servo Control) , they send the Position Deviation Xerr (in Telegram 105) from the plc to the drive . Then they add to it the Position Actual Xact inside the drive to have the Psetpoint again !
Why not they simply send the Position Setpoint from the controller to the drive ?
Can someone please explain this concept ?

control structure with DSC and with precontrol.JPG
 

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