IFM Electronic Ecomat 100 ecomatmobile SmartController CR2500, Системное руководство

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ifm System Manual ecomat mobile SmartController (CR2500, CR2502) V05
Programming and system resources Limits of the SmartController
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Function Above average load
OUTPUT_CURRENT_CONTROL,
OCC_TASK Simultaneous use of several current controllers
CAN interface High baud rate (> 250 kbits) with a high bus load
PWM,
PWM1000 Many PWM channels at the same time. In particular the
channels as from 4 are much more time critical
INC_ENCODER Many encoder channels at the same time
The functions listed above as examples trigger system interrupts. This means: Each activation
prolongs the cycle time of the application program.
The following indications should be seen as reference values:
7.2 Limits of the SmartController
Current controller max. 1 If possible, do not use any other
performance-affecting functions
1 channel Input frequency < 5 kHz CYCLE,
PERIOD,
PERIOD_RATIO,
PHASE
4 channels Input frequency < 1 kHz
INC_ENCODER max. 2 If possible, do not use any other
performance-affecting functions!
ATTENTION
Risk that the controller works too slowly! Cycle time must not become too long!
► When the application program is designed the above-mentioned recommendations must be
complied with and tested. If necessary, the cycle time must be optimised by restructuring the
software and the system set-up.