Lenze CANopen control technology - Manual (Page 83)

DMS 4.2 EN 07/2011 TD17
L
83
Control technology | CANopen communication manual
Commissioning the CANopen Motion bus
Optimisation of signal propagation delays (for HighLine CiA402 only)
9.8 Optimisation of signal propagation delays (for HighLine CiA402 only)
An optimised setting is possible at a low packing density of the telegrams on the fieldbus.
An optimised setting serves to achieve shorter signal propagation delays (Control 
Drive Control) when the packing density is < 0.7:
Telegram runtimes
9.8.1 Example 1: 3 drives in 1 ms at 1 Mbit/s
 Set sync cycle time (C1121): 1000 μs
 Set sync phase position (C1122): 120 μs
 This results in the following telegram order within one cycle:
 Packing density: 890 μs / 1000 μs = 0.89
Use standard setting.
(Sum of all telegram runtimes) / (set sync cycle time) < 0.7
Telegram/data object Telegram runtime at 500 kbits/s Telegram runtime at 1 Mbits/s
Sync telegram 100 μs 50 μs
Actual value PDO 240 μs 120 μs
Setpoint PDO 240 μs 120 μs
SDO 240 μs 120 μs
Telegram runtimes
1 sync telegram
50 μs
1 actual value PDO per drive 360 μs (120 μs x 3 )
1 setpoint PDO per drive 360 μs (120 μs x 3)
1 SDO 120 μs
Sum of all telegram runtimes 890 μs