Since t
4
in Sercos v1.1.2 is only defined at the interval 0 ≥ t
4
≤ t
Scyc
, the data
is output and imported to the frontend by the I/O module at a time t
osp
or t
isp
calculated by the coupler.
After the execution of command S-0-0127 "CP3 transition check", t
osp
and t
isp
can be read back via the manufacturer-specific parameters IDN/P-0-1500.24
"Output Sampling Point (t
osp
)" and IDN/P-0-1500.25 "Input Sampling Point
(t
isp
)".
Minimum Possible Cycle Time
In this operation mode, the same characteristics with regard to the minimum
possible cycle time apply as with the standard operation mode. In contrast to
the standard operation time, the minimum cycle time for the Sercos field bus
coupler S67-S3-BK-DI8-M8 does not refer to the communication cycle time
t
Scyc
, but to the connection cycle time t
Pcyc
. The connection cycle time is a
whole-number multiple of t
Scyc
by which the clock step-down factor n is set:
The lowest configurable cycle time for parameter IDN/S-0-1002 "Communica‐
tion cycle time (tScyc)" in the extended operation mode is 31.25 μs. If the
configured connection time selected is too short, the coupler negatively ac‐
knowledges command S-0-0127. Using the manufacturer-specific parameter
IDN/P-0-1002 "Minimum communication cycle time (tScycMin)", the minimum
connection cycle time t
Pcyc
in this operation mode can be read back for the
current configuration.
9.6.4
Fast, Digital Onboard Inputs (Fast PDIN or High-Speed PDIN)
An additional function of the extended "ENHANCED" operation mode allows
to process the digital onboard inputs directly using the field bus hardware.
The inputs are not imported as with the external I/O modules via S-BUS, but
directly from the front end.
Using a special connection configuration, the read out input information are
copied directly to the AT telegram. The fast front end of the onboard inputs
allows to implement an exclusive producer connection with a minimum com‐
munication cycle time (t
Pcyc
) of 31.25 μs. In this case, the S-BUS and the ex‐
ternal I/O modules operate in a clock-reduced communication cycle with t
Pcyc
= n · t
Scyc
(n ≥ 8).
To use this function, the following parameters are also to be configured in
communication phase CP2:
IDN
Value
Description
IDN/P-0-1500.0.1
"IO Control"
0x0003
Extended operation mode and process‐
ing the onboard inputs by the field bus
hardware
Additional producer connection x
IDN/S-0-1050.x.1
0xC000
Active, synchronous producer connec‐
tion with configuration via IDN list
Bosch Rexroth AG
DOK-CONTRL-S67S3BKDI8*-AP03-EN-P
Rexroth IndraControl S67 Sercos Coupler 8 Digital Inputs (M8)
102/139
Sercos
