2 effect of c01130 on the sync phase position, Effect of c01130 on the sync phase position, E94aycca communication manual (canopen®) – Lenze E94AYCCA User Manual
Page 54
E94AYCCA communication manual (CANopen®)
Process data transfer
Synchronisation of PDOs via sync telegram
54
L
EDS94AYCCA EN 5.0 - 06/2012
8.4.2
Effect of C01130 on the sync phase position
Example 1:
1
Sync cycle time (
)
= 2000 μs
Sync phase position (
)
= 0 μs
Sync application cycle (
)
= 1000 μs
A Instant of acceptance/transmission of synchronous PDOs
B Inactive instant of acceptance
n Device cycle
Example 2:
1 Sync cycle time (
)
= 2000 μs
2 Sync phase position (
)
= 400 μs
Sync application cycle (
)
= 1000 μs
3 PDO delay
= (
= 750 μs
A Instant of acceptance/transmission of synchronous PDOs
B Inactive instant of acceptance
n Device cycle
Example 3:
1 Sync cycle time (
)
= 2000 μs
2 Sync phase position (
)
= 400 μs
Sync application cycle (
)
= 2000 μs
3 PDO delay
= (
= 1750 μs
A Instant of acceptance/transmission of synchronous PDOs
B Inactive instant of acceptance
n Device cycle
0
1
0
1
150 µs
n-1
1
150 µs
n
n+1
n+2
SYNC
SYNC
0
1
0
1
n+3
n-1
n
0
n+1
n+2
SYNC
SYNC
0
1
0
1
n+3
n-1
1
n
n+1
n+2
SYNC
SYNC