DataDelay

General

Type	AD
Devices supporting the parameter	Encoder network (Synchronization encoder output, Synchronization encoder input)
Traceable	Yes

Functional Description

Within a cycle (parameter DataCycleTime), encoder data are normally transferred to the Synchronization encoder inputs via Ethernet. Network overload and/or CPU overload can lead to delays (parameter AvailableLoad).

To avoid errors that result from such delays, you can use the parameter DataDelay to set a delay time (or dead time). DataDelay defines how many cycles must pass before the encoder data and UserData are accepted by the Synchronization encoder inputs.

To ensure that the encoder data you work on have the same time in both the Synchronization master and the Synchronization slave, you must feed each Synchronization encoder output back to a Synchronization encoder input in the Synchronization master.

Principle of processing encoder data in the encoder network

NOTE: Depending on the application, observe the dead time caused by DataDelay.

This is especially important to consider when you have physical master encoders (SinCos encoders or incremental encoders) that are distributed over the encoder network. A technically better solution might be to use a BT-4/ENC1 bus terminal on PacNet.

The parameter is set centrally at the Synchronization encoder output and is identical for all Synchronization encoder inputs.