E94aycca communication manual (canopen®) – Lenze E94AYCCA User Manual
Page 53
EDS94AYCCA EN 5.0 - 06/2012
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E94AYCCA communication manual (CANopen®)
Process data transfer
Synchronisation of PDOs via sync telegram
Sync application cycle
This parameter influences the effect of the sync phase position (
) with regard to the
instant of acceptance of the synchronous PDOs by the application or the instant of
transmission of the synchronous PDOs to the system bus (CANopen).
For Servo Drive 9400 software versions lower than V3.0 the following applies:
The sync application cycle is permanently set to 1000 μs.
The resulting PDO delay can be calculated with the following formula taking into
consideration an internal processing time of 150 s:
PDO delay= (sync cycle time - sync phase position + 150 μs) modulo 1000
From Servo Drive 9400 software version V3.0 the following applies:
The sync application cycle can be set in
. The value set is automatically rounded
down to full 1000 μs.
The resulting PDO delay can be calculated with the following formula, taking an
internal processing time of 150 s into consideration:
PDO delay= (sync cycle time - sync phase position + 150 μs) modulo
Note!
If the sync application cycle in
is set higher than the sync cycle time
), the response is undefined. The same applies if the sync phase position
) is set higher than the sync cycle time (
In these cases, usually no synchronous PDOs are transmitted via the system bus
(CANopen) anymore.