I'd like to operate one of these drives with a master update rate of 1kHz.
An earlier posting on this list from suggests that 1kHz is possible:
-----------------------------------------------------------------------------------------
Tom Wong-Cornall on 10/31/2019.
Subject: Re:[etherlab-users]RV: AX5000 fault synchronization
...
[sync0] There are fixed options for this. 250us is the slowest you can set it,
but perfectly fine for 1kHz.
...
- Sync0 + Sync1 timer values *must* add up to your cycle time (imposed and
checked by AX5000's internal logic).
....
------------------------------------------------------------------------------------------
The slowest OpMode in the ESI reads:
<OpMode>
<Name>DcSync250</Name>
<Desc>Sync cycle time: 250µs</Desc>
<AssignActivate>#x0730</AssignActivate>
<CycleTimeSync0>250000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
<ShiftTimeSync1>0</ShiftTimeSync1>
</OpMode>
At first, I thought this meant that the drive needed a sample period of 250uSec.
But CycleTimeSync1/@Factor=-1 implies that the sync1 shift time should be
750uSec.
So if "Sync0 + Sync1 timer values *must* add up to your cycle time", is
OpMode "DcSync250" the correct choice for a 1kHz update rate?
Since I'll be fighting with SERCOS to get the drive started, I want to make
sure the basics are right.
Thanks,
H. Sparks
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