Motor Power Company DUET_FL 48/10, Руководство пользователя

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6.1.1 Processing of CAN messages
The DUET_FL has a command interpreter for the CAN messages received. This command interpreter
is activated every 1.6 ms. It can process an SDO or a special message, such as a SYNC telegram or
an emergency message, every time it is activated. The processing of PDOs may take two time slices
of the command interpreter depending on the complexity. This structure results in restrictions
concerning the speed with which the DUET_FL can process the CAN objects.
•
The control system must not transmit PDOs more often than every 4 ms , as otherwise the
DUET_FL may not be able to detect or evaluate a PDO. This may cause jumps in the control
system or jerking of the motor.
•
In the worst case, a PDO does not become effective until after 4.8 ms (e.g. as a speed setpoint).
This happens when two time slices are required to process the PDO and when the PDO is
transmitted immediately after the command interpreter is called up.
•
Up to 8 ms may pass between the transmission of an SDO and the response of the controller
since the response data have to be compiled in the controller first.
More information concerning the communication and the control of the DUET_FL servo
positioning controller via the CANopen interface as well as information concerning the
connection of the CAN bus can be found in the
CANopen manual for the DUET_FL
servo positioning controller.
6.1.2 Configuring the CANopen communication parameters
You can adapt the CANopen communication parameters of the DUET_FL servo positioning
controller to your CAN bus network under
Parameters/Fieldbus/CANopen .
You can define the following communication parameters:
 Baud rate : This parameter determines the baud rate used on the CANopen bus.
 Basic node number : This parameter includes the "basic node number" of the device. This
number is used to calculate the "effective" node number. It is possible to include the digital
inputs into the calculation of the effective node number (see below).
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company