PCAN-MicroMod CANopen - User Manual - PEAK-System

PCAN-MicroMod CANopen - User Manual
2.3.1 Digital I/O Performance
Processing of all digital I/Os happens on a 500-microsecond timer
basis. For best performance, digital I/Os should always be mapped
into the first RPDO/TPDO as that is processed with a higher priority.
Digital outputs get applied to the outputs within one millisecond
after the triggering message was received. This is either the RPDO1
itself or the SYNC message if synchronized communication is used.
With the change-of-state (COS) detection a change in the digital inputs
is typically recognized within one millisecond and immediately
triggers the transmission of TPDO if COS communication is used.
However, process data received is processed at a higher priority,
potentially delaying the COS detection.
2.3.2 Analog I/O Performance
Processing of all analog I/Os happens on a 1-millisecond timer
basis. Each millisecond one analog input channel and one analog
output channel are updated. As a result, the overall delay in analog
data processing depends on the number of analog channels used.
With a system using 8 analog inputs each input is updated every 8
milliseconds. The COS and minimal delta detection typically requires
another millisecond to execute and detect potential changes.
If a system has 4 analog outputs, then the delay in applying new
received values to the outputs can be up to 4 milliseconds.
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