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2.9. 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%
SCAN time (ms)
Drive Unit No.
bps
8 16 32 48 64
1M 7 9 14 19 25
800k 7 10 17 23 30
500k 9 14 25 35 45
250k 14 25 45 66 87
125k 25 45 87 128 169
50k 56 107 210 314 417
20k 133 262 520 778 1036
10k 262 520 1036 1552 2068
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
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