where is executed the Loops Control in sinumerik ?

Dear all,...

in Sinumerik 840D sl with Simodrive 611 Where really is performed the Position, speed and current control loops ?
The current loop is always executed on the servo-drive ?.
The drawing in the 840D SL and 840Di Manuals indicate differences.
What do we parameterize or adjust on the servos-Drive (simodrive 611 or Sinamics S120), if the control loops are executed in the NC?


Thanks very much in advanced ....

There is a very high probability that no-one here knows, as this is a LinuxCNC forum.

But typically there will be a velocity loop running in the servo drive and a position loop running in the controller.