CANopen
3 Technical data
3-3
L BA2175 EN 2.0
3.5.1 Communication times
Note!
The CAN bus communication times depend on
• Processing time in the controller
• Baud rate
• Data priority
• Bus load
More information about bus access control can be obtained from corresponding literature
specialised on Controller Area Networks.
3.5.1.1 Processing times in the controller
Processing times of 820X controllers
Theprocessingtimes for8200 controllersdiffer from thetimesfor the821X/822X/8200 vectorseries.
In opposite to the 821X/822X/824X series, which have parallel process data processing, the 8200
series process process and parameter data sequentially. Therefore the time needed to respond
process data depends on previous actions.
The processing time needed for telegrams also depends on the actual value conditioning (process
data from controller). If these data (status word, actual frequency) are not required, they can be
deactivated with the control word ”Bit 15” (PE inhibit).
The individual telegram times are:
Telegram Processing time
PE-inhibit = 0 PE-inhibit = 1
Parameters 62...140 ms 62...70 ms
Change of a process data value
to controller (*)
27...105 ms 27...35 ms
Change of both process data values to
controller *
62...140 ms 4...70 ms
Process data from controller * 108...140 ms not possible
Processing times of 821X/8200 vector/822X controllers:
Parameters 30...50 ms
Process data, 3...5 ms (*)
* The process data processing times refer to the sync t elegram (^ 6-13)
Processing time of 93XX controllers
Parameter data and process data are independent of each other.
• Parameter data: approx. 30 ms + 20 ms tolerance (typically)
– Some codes require longer processing times (see the 9300 Manual).
• Process data: approx. 3 ms + 2 ms tolerance
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