Fig. 23 Example - Beckhoff FC5101 Documentation

Parameterization and Commissioning
Sync-Cycle Time
The cycle time of the CANopen snyc telegram is displayed here. It results from the cycle time of the highest-
priority task, whose process data are linked with the card, and from the sync cycle multiplier.
Sync-Tx-PDO Delay
Directly after the SYNC telegram, the synchronized slaves send their input data/actual values. The FC510x
can delay the sending of the output data / set value (TxPDOs from the perspective of the card) in order to
minimize the telegram burst directly after the SYNC. This delay is set in percent of the SYNC cycle time with
the parameter Sync-Tx-PDO -Delay.
Fig. 23: Example
Task Cycle Time = 2000 µs, Sync-Cycle Multiplier = 5, Sync Tx-PDO Delay =40. The PLC task can process
event-driven PDOs every 2 ms; the CANopen sync cycle is 10 ms; the FC510x sends its synchronous PDOs
4 ms (=40% of 10 ms) after the SYNC.
Search...
This is used to search all existing FC510x channels; the required channel can be selected. In the case of an
FC5102 both channels A and B appear. These behave in logical terms like two FC5101 cards.
Hardware Configuration...
In which the address of the FC510x is set in the lower memory area (below 1 MB) of the PC.
Upload Configuration
Scans the CANopen network and adds all detected equipment to the device (FC510x) (boxes cannot be
added). In the case of Beckhoff boxes, reads the configuration precisely. In the case of external devices, the
PDO configuration and the identity object are read and evaluated.
Verify Configuration
Allows a comparison of the expected (entered) network configuration with the devices actually found in the
network. The data from the CANopen Identify Object are read and compared. In the case of Beckhoff boxes
the connected Bus Terminals or extension modules are read and compared (under preparation).
26 Version: 2.0 FC5101 and FC5102