Lenze 9400 Manual de usuario descargar pdf (Pagina 313)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 313

9 "CAN on board" system bus

9.6 Process data transfer

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Sync application cycle

This parameter influences the effect of the sync phase position (C01122

) with regard to the instant

of acceptance of the synchronous PDOs by the application or the instant of transmission of the

synchronous PDOs to the system bus.

The following applies to software versions lower than V3.0:

• The sync application cycle is permanently set to 1000 μs.

• The resulting PDO delay can be calculated with the following formula taking into consideration

an internal processing time of 150 s: PDO delay= (sync cycle time - sync phase position + 150 μs)

modulo 1000

The following applies from software version V3.0:

• The sync application cycle can be set in C01130

. The set value is automatically rounded down to

full 1000 μs.

• The resulting PDO delay can be calculated with the following formula taking into consideration

an internal processing time of 150 s: PDO delay= (sync cycle time - sync phase position + 150 μs)

modulo C01130

9.6.5.2 Effect of C01130 on the sync phase position

 Note!

If the sync application cycle in C01130 is set higher than the sync cycle time (C01121),

the behaviour is undefined. The same applies if the sync phase position (C01122

) is set

higher than the sync cycle time (C01121

).

Usually, no synchronous PDOs are then applied to the system bus anymore.

Example 1:

 Sync cycle time (C01121

) = 2000 μs

Sync phase position (C01122

)= 0μs

Sync application cycle (C01130

) = 1000 μs

 Instant of acceptance/transmission of synchronous PDOs

 Inactive instant of acceptance

n Device cycle

0101



150 µs

n-1

1

150 µs

n n+1 n+2

SYNC SYNC

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