Performances of the TSX CSY 164

At a Glance

The performances of the module are:

SERCOS®® bus cycle time:
- SERCOS® tick equals 4 ms by default.
Processing of an immediate command = 2 SERCOS® ticks
Processing of a queued command = 2 SERCOS® ticks * Number of queued commands
Processing of Remote measurement = 2 SERCOS® ticks + 1 SERCOS® tick for acknowledgment of the reference command on the slave
Monitoring period of the deviations between axes: 20 ms independent of the Tick,
Modification on the fly of the cycle time via the Write-cycle command to be chosen from the following:
- SERCOS® Tick at 2 ms,
- SERCOS® Tick at 3 ms,
- SERCOS® Tick at 4 ms,
with acknowledgement during forcing in phase 0 of the SERCOS® ring.

The SERCOS® Tick is defined according to the number of axes configured and the type of applications (See the SERCOS® Cycle Time Selection Guide).

NOTE: The Lexium carries out an interpolation every 250 μs.

SERCOS®® Cycle Time Selection Guide:

Test conditions:

NOTE: The performances shown were achieved under certain conditions guaranteeing a time buffer of approximately 25% of the SERCOS® CPU time. The Period of the MAST task is configured at 20ms. Transmission of the motion commands via MOVE_QUEUE is carried out once every 10 PLC cycles.

As a consequence,

for the "independent axes" configuration: a MOVE_QUEUE command is sent to all axes every 200ms
For the "slave axes" configuration, a MOVE_QUEUE command is sent to the master every 200ms
For the "coordinated axes" configuration, a MOVE_QUEUE command is sent to all groups of coordinated axes every 200ms.

A WRITE_PARAM command is sent during this time period, in order to carry out a parameter adjustment.

Modification of Cycle Time using a Program

(* change of the SERCOS® cycle time => %MW30 = 2000 or 3000 or 4000 *)

IF %M30 THEN %MW101.0.26:=2565;

%MD101.0.27:=%MW30;

IF NOT %MW101.0:X1 THEN

WRITE_CMD %CH101.0;

RESET %M30;

SET %M31;

END_IF;

(* transition into SERCOS® phase 0 *)

IF %M31 THEN %MW101.0.26:=2545;

%MD101.0.27:=0;

IF NOT %MW101.0:X1 THEN

WRITE_CMD %CH101.0;

RESET %M31;

SET %M32;

END_IF;

(* New transition into SERCOS® phase 4 *)

IF %M32 THEN %MW101.0.26:=2545;

%MD101.0.27:=4;

IF NOT %MW101.0:X1 THEN

WRITE_CMD %CH101.0;

RESET %M32;

END_IF;

(* Here, we can expect transition to phase 4 (OPCODE 550 result in %MD101.0.20) then acknowledge the fault caused by the transition to phase 0 *)