Communication Cycle Period (Object 1006H); Start Phase; Data Throughput Time - DEUTSCHMANN AUTOMATION UNIGATE CX-CANopen - DeviceNet Manual

Deutschmann Automation GmbH & Co. KG

7.1.2.13 Communication cycle period (object 1006h)

This object provides the communication cycle time. This period defines the SYNC interval.
The function can be permanently activated via the Sync. Time (ms) Obj 1006h can be activated
or set with WINGATE or temporarily via third-party engineering software.
With WINGATE you can use the Sync. Time (ms) Obj 1006h a time can be set in milliseconds
(ms). With the value "0" the function is inactive.
7.1.2.14

Start phase

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The UNIGATE sends the NMT command "BusStart" every 2 seconds during the start phase; i.e.
all connected CANopen
As soon as the UNIGATE
phase is exited; i.e. the NMT command is no longer sent.
There is no timeout here because the CANopen
mand.
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If a CANopen slave is later connected to the network, it no longer receives this NMT command.
However, it can be triggered again at any time via the FB command byte (bit 6) in order to also
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set later CANopen slaves to the "Operational" state.
7.1.2.15

Data throughput time

Processing times of the data through the gateway:
The actual throughput time of the data from CANopen
among other things, on the following parameters:
• Number of mappings
• Length of the configured PROFIBUS data
•
Number of COB IDs used in the mappings
• Number of changed PROFIBUS data between 2 transmissions
• Number of bytes mapped in a COB ID
• Baud rate in PROFIBUS or CAN
Due to these many parameters and the interdependencies of the parameters, no calculation for-
mula for the lead time can be specified. From practical measurements, lead times from 10 ms to
100 ms were observed, the maximum time being measured with a PB configuration of 244 bytes
I / O and 488 mappings.
In practice, under "normal" conditions, a lead time of a few milliseconds can be expected. To
optimize the lead time, the following guidelines should be followed:
• Number of mappings as small as possible
•
Length of the fieldbus configuration as short as possible
• Use all 8 bytes in the COB-IDs if possible => use as few COB-IDs as possible
25.9.20 Fieldbus-Gateway UNIGATE
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slaves are set to the "Operational" state.
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has received the first PDO that is present in the mapping, this start
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CX C4Map - DeviceNet V. 1.0
Implemented protocols in UNIGATE® CX C4Map
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slaves do not have to react to this NMT com-
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to the fieldbus or vice versa depends,
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