Digitax HD M753 Control User Guide
123
Issue Number: 3
9.28
Advanced Cyclic Data Task
Configuration
This configuration will allow the timing behaviour of the cyclic data
handling to be modified; specifically, it will allow the tasks in which cyclic
data is handled to be changed. The default configuration will be
specified to reduce delays as much as possible, in case it is necessary
to close control loops over the network.
Table 9-112 Out cyclic data configuration
Table 9-113 In cyclic data configuration
0x3006
Out cyclic data configuration
Sub-index 0
Access: RO
Range: N/A
Size: 1 byte
Unit: N/A
Default: 2
Type:
USINT
Description:
The number of the last sub-index in this object.
Sub-index 1
Access: RW
Range: 0 to 2
Size: 1 byte
Unit: ms
Default: 0
Type:
USINT
Description:
High priority cyclic data task; selects the task in which high
priority out (master to slave) cyclic data is copied from the
intermediate buffer to the mapped objects, parameters, etc.
0 - Pre-Drive Critical update period. The default; this is the task
that, on Digitax HD, starts execution 75 µs before the drive critical
update period.
1 - Drive Critical update period. Occurs for the first 70 µs following
an edge of the OPT_SYNC signal.
2 - Post-Drive Critical update period. The task that occurs
immediately after the critical update period, up until the Pre Drive
Critical Update Period.
3 - Sync Manager task. This is the AL event task which occurs
upon a sync manager access.
Sub-index 2
Access: RW
Range: 0 to 2
Size: 1 byte
Unit: N/A
Default: 3
Type:
USINT
Description: Reserved
0x3007
In cyclic data configuration
Sub-index 0
Access: RO
Range: N/A
Size: 1 byte
Unit: N/A
Default: 2
Type:
USINT
Description:
The number of the last sub-index in this object.
Sub-index 1
Access: RW
Range: 0 to 2
Size: 1 byte
Unit: ms
Default: 2
Type:
USINT
Description:
High priority cyclic data task; selects the task in which high
priority in (slave to master) cyclic data is copied to the
intermediate buffer from the mapped objects, parameters, etc.
0 - Pre-Drive Critical update period. The default; this is the task
that, on M600 and above, starts execution 75 µs before the drive
critical update period. This time may need to be modified after
measuring actual task periods (hopefully it will be possible to start
at a time closer to the critical update period).
1 - Drive Critical update period. Occurs during the first 70 µs
following an edge of the OPT_SYNC signal.
2 - Post Drive Critical update period. The task that occurs
immediately after the critical update period, up until the Pre Drive
Critical Update Period.
3 - Sync Manager task. The AL event task which occurs upon a
sync manager access.
Sub-index 2
Access: RW
Range: 0 to 2
Size: 1 byte
Unit: N/A
Default: 2
Type:
USINT
Description:
Intermediate buffer copy task. Selects the task in which the high
priority in (slave to master) cyclic data is copied from the
intermediate buffer into the sync manager space.
0 - Pre Drive Critical update period. The task that, on M600 and
above, starts execution 75 µs before the drive critical update
period. This time may need to be modified after measuring actual
task periods (hopefully it will be possible to start at a time closer
to the critical update period).
1 - Drive Critical update period. Occurs during the first 70 µs
following an edge of the OPT_SYNC signal.
2 - Post Drive Critical update period. The default; it is the task that
occurs immediately after the critical update period, up until the
Pre Drive Critical Update Period.
3 - Sync Manager task. The AL event task which occurs upon a
sync manager access.
Содержание Digitax HD M753 EtherCAT
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