Idn1 Control Unit Cycle Time; Ncyc ); Idn2 Communication Cycle Time; Scyc ) - Kollmorgen Sercos II Translation Of The Original Manual

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3.3 IDN1 Control Unit Cycle Time (t
The control unit cycle time specifies the intervals at which new setpoints can be sent by
the control unit. This parameter is transmitted in communication phase 2 and activated in
communication phase 3.
However, the following condition applies for the control unit cycle time:
3.4 IDN2 Communication Cycle Time (t
The communication cycle time specifies the intervals at which cyclic data is transmitted.
Valid times: 500, 1000, 2000, ... 8000 µs
Up to a maximum cycle time of 4 ms, the setpoints are interpolated linearly to 250 µs.
Interpolation is not performed for higher cycle times, resulting in poor regulation proper-
ties.
In addition, spline interpolation is available at a cycle time of 500 µs (see also IDN 3040).
In CP1+2, a 2 ms cycle time is always used (according to the sercos
desired cycle time can only be enabled in CP3 and onwards.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.5 IDN3 Shortest AT Transmission Starting Time (t
The time required by the amplifier between end of MST and beginning of the amplifier's
AT.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.6 IDN4 Transmit/Receive Transition Time (t
The time required by the amplifier between the end of the AT and the beginning of the
next MDT.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
®
sercos for S300/S700
IDN1 = IDN2
Unsigned decimal
250
8000
2000
µs
Unsigned decimal
2...4MBaud: 12
8...16MBaud: 4
µs
Unsigned decimal
12
µs
04/2016
)
Ncyc
)
Scyc
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param:
Version:
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
ATMT
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
®
sercos IDN Set
®
standard) and the
No
CP2
CP2
)
1min
Yes
Read-only
)
Yes
Read-only
23