BECKHOFF FC5101 - Manual (Page 24)

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149
24
Master
In master synchronization mode the card generates its time basis locally. The SYNC is generated with long
time quartz accuracy. The start of the TwinCAT task is triggered by the card, delayed by the Shift Time. In this
mode the shift time value should be as large as possible. The function "Calculate Equi-Times" helps to config-
ure the optimal shift time. It is started by selecting the corresponding button.
Cycle Time:
Displays the cycle time of the corresponding highest priority task. The value is updated when the TwinCAT
mapping is generated.
Sync-Cycle Multiplier:
CANopen SYNC Cycle Time = (Task) Cycle Time x Sync-Cycle Multiplier. Event driven PDO communications
and cyclic synchronized PDO communication are frequently combined when used in conjunction with CANo-
pen. In order to be able to respond rapidly to an event, the TwinCAT task cycle time has to be less than the
CANopen SYNC cycle time.
Sync-Cycle time
Shows the cycle time of the CANopen SYNC telegram. This cycle time is derived from the highest priority task
which has process data linked to the card, and the Sync Cycle Multiplier.
Sync-Tx-PDO Delay:
Directly after the SYNC telegram, the synchronized slaves send their input data/actual values. The FC510x can
delay the sending of the output data / set value (TxPDOs from the perspective of the card) in order to minimize
the telegram burst directly after the SYNC. The Sync-Tx-PDO delay parameter is used to set this delay in per-
cent of the Sync Cycle Time.
Example: