Sync - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
5.6.7

SYNC

The SYNC producer broadcasts the synchronization object periodically. The SYNC message provides the
basic network synchronization mechanism. The time period between SYNC messages is specified by the
standard parameter communication cycle period. There may be a time jitter in transmission by the SYNC
producer corresponding approximately to the latency from some other message being transmitted just before
the SYNC.
SYNC producer
Request
SYNC Object
SYNC triggered PDO Objects
1. Object H1005: COB-ID SYNC message
In order to guarantee timely access to the network, the SYNC is given a very high priority CAN-ID.
Bit No.
Bit 0 to 10 11-bit CAN-ID
Bit 11 to 28
Bit 29
Bit 30
Bit 31
2. Object H1006: Communication cycle period
This object provides the communication cycle period. This period defines the SYNC interval. The 32 bit value
is in units of μs (FX
The FX -CAN counting resolution is 1ms, values smaller than 1ms will be set internally to 1ms, values
3U
starting from 1ms will be divided by 1000.
The value 0 disables SYNC producing. The module needs to be active NMT Master to produce SYNC
messages.
Setting range: K0 to K4,294,967,295
Communication cyclic period
31 30
X gen.
Item
11-bit CAN-ID of the CAN base frame
- Bit 11 to 28 fixed to OFF (0).
- Bit 29 fixed to OFF (0).
OFF (0): Don't generate SYNC message
ON (1): Generate SYNC message
gen.
Note:
• The device needs to be active NMT Master to produce SYNC messages.
• The Index H1006 needs to be set to enable SYNC producing.
X Do not care
-CAN counting resolution: 1 ms).
3U
0 byte
→ For the COB-ID, refer to Subsection 5.6.1
29 26 ... 11 10 ... 0
H0 H00000 11-bit CAN-ID
Description / set range
→ For NMT Master, refer to Subsection 5.8.5
5 Introduction of Functions
5.6 Communication Profile Area
SYNC consumers
Indication
Indication
Indication
Time
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