Vector VEC-VA Series User Manual

VA Motion Controller Programming Manual
626
4.1.4 Configure the Synchronizing Cycle of Master-slave Node
 Input parameters
variable name
Features
type of data
The initial value
Axis0
(axis number)
Node number = axis number +1
nUSINT
0
C002
(execute bit)
When the Execute FALSE to
TRUE, the instruction is executed
BOOL
FALSE
Periodtime
(synchronization
period)
Provided from the master node
synchronization period (unit: ms)
Time
10
1, the master and slave are the next pre-operational mode, the configuration synchronization
cycle at this step, internal modules respectively of the master set from 1006H target station with
NS_CC_CANopen_SDO_Write module, the primary must be the same synchronization cycle
station is provided from, otherwise lead to control errors!
2, C002 trigger condition, configure synchronization cycle to enter the next step without
delay;
3, setting the reference standard isochronous period 1006H:
Periodtime = (0.114 * 1.3 * Number of PDO * 1000 / * baud +1+ axes 0.125), the number of
templates configured for PDO 4;
(See detailed configuration template "Vector CANopen Configuration")

Vector VEC-VA Series Specifications

General

Brand	Vector
Model	VEC-VA Series
Category	Controller
Language	English