Module Timing Attributes
The following attributes configure various time related aspects of CIP Motion device.
Time Sync Support
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - All FW | Set | USINT | 2 | - | - | Enumeration: 0 = No sync support 1 = Low quality 2 = High quality 3-255 = (reserved) |
Controller firmware only enumerated parameter (does not go to the drive) which reflects the time synchronization capability of the device.
- No Sync: This enumeration indicates that the device does not support CIP Sync time synchronization and therefore cannot interpret or generate time stamps.
- Low Quality: This enumeration indicates that the device has a low quality implementation of CIP Sync time synchronization protocol. Latency associated with the software time sync algorithm limits time stamp accuracy to no better than 10 microseconds (µsec). Fine interpolation is not recommended for this time sync implementation. Low Quality time synchronization is sufficient for Fault and Alarm event logging.
- High Quality: This enumeration indicates that the device has a high quality implementation of CIP Sync time synchronization protocol resulting in very accurate time stamping (better than 10 µsec). High Quality time synchronization is appropriate for fine interpolation and registration functionality.
Time Diagnostics
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - All FW | Set | BYTE | 0 | - | - | Bitmap: 0: Enable Time Statistics 1: Reset Transmission Statistics 2-7: (reserved) |
Controller firmware only parameter (does not go to the drive) which controls whether timing diagnostic data is requested from the drive.
- Enable Time Statistics - enable timing diagnostic data.
- Reset Transmission Statistics - when the controller sees this bit set to a one it will reset transmission statistics and then clear the bits.
Position Loop Device Update Period
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - D | Set | INT | - | - | Microseconds |
Used to determine setting of Interpolation Control when in position loop mode.
Velocity Loop Device Update Period
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - D | Set | INT | - | - | Microseconds |
Used to determine setting of Interpolation Control when in velocity loop mode.
Torque Loop Device Update Period
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - D | Set | INT | - | - | Microseconds |
Used to determine setting of Interpolation Control when in torque loop mode.
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