9"can on board" system bus – Lenze 9400 User Manual
Page 314
9
"CAN on board" system bus
9.6
Process data transfer
314
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
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Example 2:
Sync cycle time (
)
= 2000 μs
Sync phase position (
)
= 400 μs
Sync application cycle (
)
= 1000 μs
PDO delay
= (
= 750 μs
Instant of acceptance/transmission of synchronous PDOs
Inactive instant of acceptance
n Device cycle
Example 3:
Sync cycle time (
)
= 2000 μs
Sync phase position (
)
= 400 μs
Sync application cycle (
)
= 2000 μs
PDO delay
= (
= 1750 μs
Instant of acceptance/transmission of synchronous PDOs
Inactive instant of acceptance
n Device cycle
Example 4:
Sync cycle time (
)
= 2000 μs
Sync phase position (
)
= 1400 μs
Sync application cycle (
)
= 1000 μs
PDO delay
= (
= 750 μs
Instant of acceptance/transmission of synchronous PDOs
Inactive instant of acceptance
n Device cycle
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
0
1
0
1
n
0
n+4
n+1
n+2
n+3
SYNC
SYNC