IFM Electronic Ecomat Mobile Series System Manual page 88

CAN in the ecomatmobile controller
Communication Cycle Period/Sync. Window Length
After expiry of the [Communication Cycle Period] a SYNC message is transmitted by the master.
The [Sync. Window Length] indicates the time during which synchronous PDOs are transmitted by the
other network participants and must be received by the master.
As in most applications no special requirements are made for the SYNC object, the same time can be
set for [Communication Cycle Period] and [Sync. Window Length]. Please ensure the time is entered
in [µs] (the value 50 000 corresponds to 50 ms).
SYNC-Objekt Synchrones Objektfenster
Synchronous object window
SYNC object
Synchrone PDOs
Synchronous PDOs
Communication Cycle Period
Sync. COB ID
In this field the identifier for the SYNC message can be set. It is always transmitted after the
communication cycle period has elapsed. The default value is 128 and should normally not be
changed. To activate transmission of the SYNC message, the checkbox [activate] must be set.
NOTE
The SYNC message is always generated at the start of a program cycle. The inputs are then read, the
program is processed, the outputs are written to and then all synchronous PDOs are transmitted.
Please note that the SYNC time becomes longer if the set SNYC time is shorter than the program cycle
time.
Example: communication cycle period = 10 ms and program cycle time = 30 ms.
The SYNC message is only transmitted after 30 ms.
Node ID
Enter the node number (not the download ID!) of the master in this field. The node number may only
occur once in the network, otherwise the communication is disturbed.
Automatic startup
After successful configuration the network and the connected nodes are set to the state [operational]
and then started.
If the checkbox is not activated, the network must be started manually.
Heartbeat
If the other participants in the network support heartbeat, the option [support DSP301, V4.01...] can be
selected. If necessary, the master can generate its own heartbeat signal after the set time has
elapsed.
88
ifm System Manual ecomatmobile
SYNC-Objekt
SYNC object
Asynchrone PDOs
Asynchronous PDOs
Sync. Window Lenght
SmartController (CR2500) V05
SYNC-Objekt
SYNC object
ifm CANopen library
Zeit
Time