Lenze CANopen Controller-based Automation - Manual (Page 74)

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17
74
9 Commissioning of the CANopen Motion bus
9.7 Creating a Motion task
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9.7 Creating a Motion task

How to create a Motion task:
1. Go Task configuration in the configuration tree.
2. Create a new task with the Add Object command.
Assign a sensible task name (e.g. "MotionTask").
3. Enter a reasonable cycle time in milliseconds in the Interval input field.
The cycle time to be entered depends on the number of Motion axes and the runtime of the
PLC application. In case of a small PLC application, the minimum cycle time (T
cycl
) is
determined by the number of Motion axes due to the transfer rate of the CANopen bus.
T
cycl
[ms] = number of Motion axes / 3