Lenze CANopen control technology - Manual (Page 84)

Control technology | CANopen communication manual
Commissioning the CANopen Motion bus
Optimisation of signal propagation delays (for HighLine CiA402 only)
84
L
DMS 4.2 EN 07/2011 TD17
9.8.2 Example 2: 4 drives in 2 ms at 1 Mbps
 Set sync cycle time (C1121): 2000 μs
 Set sync phase position (C1122): 120 μs
 This results in the following telegram order within one cycle:
 Packing density: 1130 μs / 2000 μs = 0.565
standard setting or optimised setting possible.
Calculation of the sync phase position for the optimised setting
Thus the following results for example 2:
 Sync phase position (C1122): 2000 μs / 2 = 1000 μs
Telegram runtimes
1 sync telegram
50 μs
1 actual value PDO per drive 480 μs (120 μs x 4 )
1 setpoint PDO per drive 480 μs (120 μs x 4)
1 SDO 120 μs
Sum of all telegram runtimes 1130 μs
Sync phase position (C1122) = sync cycle time (C1121) / 2