Example Of Scan Time - Toshiba TOSVERT VF-S15 Series Communication Function Manual

2.8. Example of SCAN time

Below table is the recommended scan time depend on the number of the drive and the baud rate.
1 unit : Tx 8byte(4word) / Rx 8byte(4word) ･･･ total 129bit (include stub 5 bits)
Delay : 3.5ms
Margin : 80%
bps
Time = (No of bit) x (No of Drive unit) x(No. of PDO) / (baud rate) / (margin)+delay+@
Ex. 1Mbps, 1TPDO, 1RPDO, 80%, 3.5ms delay
Time = 129bit x 64unit x 2PDO / (1e6) / (80%/100) +3.5ms+@
= 25ms
Drive Unit No.
8
1M 7
800k 7
500k 9
250k 14
125k 25
50k 56
20k 133
10k 262
16 32
9 14
10 17
14 25
25 45
45 87
107 210
262 520
520 1036 1552
- 9 -
E6581911
SCAN time (ms)
48 64
19 25
23 30
35 45
66 87
128 169
314 417
778 1036
2068