Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 50.9 Adjusting EtherCAT Cycle Time
50.9 Adjusting EtherCAT Cycle Time
The cycle time to be used in the drive for the cyclical setpoints and actual values can either be stored in
the FBUS.SAMPLEPERIOD parameter in the amplifier or configured in the startup phase.
This takes place via SDO mailbox access to CANopen objects 60C2 subindex 1 and 2.
Subindex 2, known as the interpolation time index, defines the power of ten of the time value (e.g. -3
means 10-3 or milliseconds) while subindex 1, known as interpolation time units, gives the number of
units (e.g. 4 means 4 units).
You can run a 2 ms cycle using various combinations. For example,
Index = -3, Units = 2
or
Index = -4, Units = 20 etc.
The FBUS.SAMPLEPERIOD parameter is counted in multiples of 62.5us microseconds within the
device. This means, for example that 2 ms equates to FBUS.SAMPLEPERIOD value of 32.
50.10 Maximum Cycle Times depending on operation mode
The minimum cycle time for the drive is largely dependent on the drive configuration (second actual posi-
tion value encoder latch functionality enabled and so on)
Interface Cycle time AKD PDMM
Position ≥ 0.25 ms (≥ 250 µs)
Velocity ≥ 0.25 ms (≥ 250 µs)
Torque ≥ 0.25 ms (≥ 250 µs)
490 Kollmorgen™ | December 2012