Lenze E94AYCCA - Manual (Page 55)

EDS94AYCCA EN 5.0 - 06/2012
L
55
E94AYCCA communication manual (CANopen®)
Process data transfer
Synchronisation of PDOs via sync telegram
Example 4:
1 Sync cycle time ( C01121 ) = 2000 μs
2 Sync phase position ( C01122 ) = 1400 μs
Sync application cycle ( C01130 ) = 1000 μs
3 PDO delay = ( C01121 - C01122 + 150 μs) modulo C01130 = 750 μs
A Instant of acceptance/transmission of synchronous PDOs
B Inactive instant of acceptance
n Device cycle
0 1 0 1
Ž 
n
Œ
0
n+4 n+1 n+2 n+3
SYNC SYNC