Материал: LenzeCANdrive
SoftMotion: DriveInterface: LenzeCAN
3 configured parameters during startup
The following parameters are set during startup:
3.1ECSxM
parameter |
value set during startup |
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SYNC generator: |
SYNC generator: |
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PLC or SYNC-device |
1st drive |
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C352 |
0 |
0 |
CAN slave |
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C353/1 |
0 |
0 |
Address mode |
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C356/3 |
cycle time |
cycle time |
PDO cycle |
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C356/4 |
0 |
0 |
Delay time PDO |
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C1120 |
1 |
0 |
SYNC mode |
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C1121 |
cycle time |
cycle time |
SYNC cycle |
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C367 |
128 |
129 |
SYNC Rx ID |
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C368 |
128 |
128 |
SYNC Tx ID |
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C1123 |
cycle time/2 |
cycle time/2 |
SYNC window |
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C369 |
0 |
cycle time |
SYNC generator cycle |
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C366 |
1 |
1 |
SYNC response |
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3.29400
parameter |
value set during startup |
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SYNC generator: |
SYNC generator: |
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PLC or SYNC-device |
1st drive |
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16#1006, |
cycle time |
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SYNC cycle |
16#60C2, |
cycle time |
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C1121 |
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16#1005 |
16#80 |
16#4000 0080 |
Address mode |
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16#1400- |
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PDO mapping |
16#1AFF |
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16#6092 |
16#10000 |
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feedconst_e4 |
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© 3S - Smart Software Solutions GmbH
LenzeCANdrive.doc |
Page 6 of 7 |
SoftMotion: DriveInterface: LenzeCAN
4 CAN-Traffic
The following values apply for ECSxM and 9400 Stateline under the precondition that only one pair of set and actual values (e.g. SetPosition, ActPosition) is transmitted. If additional cyclic data is used, the Can traffic will increase and less drives can be controlled with the same cycle time.
base load: |
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Telegram |
Data |
Bit length |
125 |
250 |
500 |
1 MBit/s |
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bytes |
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kBit/s |
kBit/s |
kBit/s |
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SYNC |
0 |
47 |
0,376 ms |
0,188 ms |
0,094 ms |
0,047 |
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ms |
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SDO |
8 |
111 |
0,888 ms |
0,444 ms |
0,222 ms |
0,111 |
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ms |
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Overall |
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1,264 ms |
0,632 ms |
0,316 ms |
0,158ms |
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per drive :
Telegram |
Data |
Bit |
125 kBit/s |
250 kBit/s |
500 kBit/s |
1 MBit/s |
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bytes |
length |
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Control Word, set position |
8 |
111 |
0,888 ms |
0,444 ms |
0,222 ms |
0,111 ms |
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Status Word, actual position |
8 |
111 |
0,888 ms |
0,444 ms |
0,222 ms |
0,111 ms |
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overall |
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1,776 ms |
0,888 ms |
0,444 ms |
0,222 ms |
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According to that, the following table shows the maximum number of drives per cycle time:
max. number of |
125 |
250 |
500 |
1 |
drives |
kBit/s |
kBit/s |
kBit/s |
MBit/s |
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1 ms |
0 |
0 |
1 |
3 |
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2 ms |
0 |
1 |
3 |
8 |
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3 ms |
0 |
2 |
5 |
12 |
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4 ms |
1 |
3 |
8 |
16 |
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5 ms |
2 |
5 |
10 |
20 |
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6 ms |
2 |
6 |
12 |
24 |
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8 ms |
3 |
8 |
16 |
32 |
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© 3S - Smart Software Solutions GmbH
LenzeCANdrive.doc |
Page 7 of 7 |