Communication
C3F_T40
394 192-121102 N04 June 2008
6.8.2.2 Technical data of the HEDA interface / overview
General HEDA data
Synchronous, bidirectional, deterministic real-time bus.
Bus access via time sharing (slots), Master/Slave, Producer/Consumer.
(synchronization exactitude <1µs).
Bus cycle time 500µs, distributed into 20 time slots à 25µs.
18 slots cyclic transmitting and receiving data channels (Slot 0 .. 17).
2 slots reserved for acyclic communication.
Telegrams (frames) with max. 7 words à 16 bit can be sent and received in a slot.
Freely configurable assignment of the cyclic transmit(Tx)/receive(rx)-slots to the
stations.
The transmitting and receiving data are freely definable via mapping tables.
Master-Slave as well as Slave-Slave communication (cross-communication) are
possible.
A master=>slave frame in slot x can be received by every slave.
A slave=>slave frame (cross-communication) in slot x can be received by every
bus node.
Compax3-specific HEDA data:
The Compaxa3 system cycle time is synchronized with the bus cycle time.
System cycle time 500µs, distributed into 4 position control cycles à 125µs.
For system-immanent reasons, only one slot is able to send and receive during
the same position control cycle (every 125µs).
Transmit- and receive slot can differ within one position controller cycle.
The Master can receive frames from 4 slaves max.
Principle:
Receive
Transmit
HEDA Master
Transmit
Receive
HEDA Slave
Transmit
Receive
HEDA Slave
Transmit
Receive
HEDA Slave
4 4 4
4444
4
18
18
Displayed are the number of the possible telegrams (Frames).
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