Lenze EtherCAT Controller-based Automation Manuel d'utilisateur télécharger pdf (Page 35)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 35

5Technical data

5.3 Communication times and drive-specific data

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

5.3 Communication times and drive-specific data

Area Values

User data per frame 1344 bytes

Process data words (PCD) Depending on the inverter used

(see documentation of the inverter)

Parameter data (SDO) transfer Max. 128 bytes

Permissible EtherCAT cycle times 1 … 10 ms

Max. number of drives per frame User data of the frame (1344 bytes) divided by the process data length

resulting from setpoints and actual values of the drives:

• for 32 Tx/Rx bytes: 1344 bytes / 64 bytes = 21 drives

• for 16 Tx/Rx bytes: 1344 bytes / 32 bytes = 42 drives

Cross communication Not possible

Cycle synchronisation with locked

PLL (Jitter)

+/-1 μs

Instant of transmission for the

EtherCAT frame (for setting, see

Optimising the task utilisation

( 104))

The EtherCAT frame is sent at the

beginning of the bus cycle task.

The EtherCAT frame is sent at the end

of the bus cycle task.

Total signal runtime for a cycle time

of 1 ms

Drive

controller drive

4 ms 3 ms

Runtime of the setpoints

Controller

drive

2 ms 1 ms

Runtime of the actual values

Drive

controller

1 ms 1 ms

1 2 ... 30 31 32 33 34 35 36 37 38 39 40 ... 204 205

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Lenze EtherCAT Controller-based Automation Manuel d'utilisateur Page 35