Configuring the Sercos Cycle Time
The Sercos cycle time is a key factor in the performance of your system. The correct cycle time depends on a range of factors including devices on the Sercos bus, amount of data for cyclic data exchange, cycle time of the MAST task and other tasks. The Sercos cycle time triggers the Real-Time Motion Process. The values for the axes are calculated in the Sercos cycle time.
The Modicon M262 Motion Controller enforces a number of limits, depending on the reference of the controller, as well as the type and number of connected devices. Refer to the chapter Device Limits and Cycle Time Limits M262 With Sercos for details.
Refer to the chapter Sercos Communication Cycle for details on the communication cycle.
Configuration of the Sercos Cycle Time
The cycle time can be set in communication state NRT and in communication phase CP0. The configured value becomes effective as of communication phase CP2.
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Step |
Action |
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1 |
Display the Device tree by clicking View > Navigators > Device tree. |
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2 |
Double-click the node SercosMaster (Sercos Master). |
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3 |
Display the tab Parameters of the Sercos master. |
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4 |
Expand the parameter group SercosCycletimeConfig by clicking the corresponding plus sign. |
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5 |
Set the parameter CycleTime to one of the following values (nanoseconds): o1000000 (= 1 ms) o2000000 (= 2 ms) o4000000 (= 4 ms) |
Refer to the chapter Parameters of the Master - Group SercosCycletimeConfig for additional information on the parameter.
