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Chapter 2 – Communication Profile
CD1-k – CANopen Communication Profile
2.3.2.3 - Object 3006h: Communication Cycle Period adjustment
Index 3006h
Name
Communication cycle period adjustment
Object Code
RECORD
Number of Elements
2
Value Description
Sub Index
1
Description
Cycle period adjustment limit
Data Type
Unsigned16
Access rw
PDO Mapping
No
Unit us
Value Range
1.5us (0xF) to 20us (0xC8)
Default Value
1.5 us (0xF)
Conversion 0.1us
Write Condition
Drive disabled.
Sub Index
2
Description
Cycle period adjustment parameter 2
Data Type
Unsigned16
Default Value
0x3C
Remark
Reserved for future use. Not to be modified.
Communication cycle period adjustment :
- The SYNC cycle time T is set with object 1006 sub index 0.
- The maximum permissible jitter is T/2.
- The accuracy of the SYNC period must be better than 0.3%.
If the last condition cannot be fulfilled because the average value of the real communication cycle period given by
the host controller differs too much from the theoretical value defined in the object 1006 sub index 0, the object
3006 sub index 1 allows to modify the "Cycle period adjustment limit ".
SYNC period error limit (%) = ABS(Treal - Ttheoretical) / Ttheoretical
Cycle period adjustment limit (us) = SYNC period error limit (%) x 500 (500us is the Tick of the CD1-k)
Object 3006 sub index 1 value = Cycle period adjustment limit (us) x 10 (conversion factor 0.1 us)
If, for example, the SYNC period error limit is 2 %, Cycle period adjustment limit (
μ
s) = 2% x 500
μ
s = 10
μ
s and
object 3006 sub index 1 value = 10 x 10 = 100 = 0x64
This object is not saved in the CD1-k EEPROM, so its value must be sent at each amplifier power up.
