Cdios system performance

 

The standard software build into the 6152 Cdios controller is an sequence for the 6172 CAN core module software version 2.0, assembled in native code for high speed.

The software consists of two major parts:

  • Receive commands from the CAN bus:
    These messages are handled by sequence #3, configured as fast interrupt routine.
  • Scan all I/O modules for change of input/status
    This is handled by sequence #28, loop time is 1 mS.

 

Test

Test conditions

Measured time in µS

Minimum

Maximum

1
 An input of a 6153 input module is changed.
Debouncing of that module is set to zero (no debouncing).
Measured time is the interval between the input change and the start of the CAN message on the bus		 320 1850

2
 An output of a 6156 output module is updated.
Measured time is the interval between the end of the CAN message on the bus and the update of the output		 95 270

3

 All outputs of all 6156 output modules are updated after the data was latched:
Measured time is the interval between the end of the CANopen SYNC message on the bus and the update of the output.		 30 57

4

 All outputs of all 6156 output modules are updated after the data was latched:
Measured time is the interval between the end of the Cdios SYNC message on the bus and the update of the output.
Note; all outputs are updated within maximum 30µS from eachother.		 95 270
 
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Last Modified: 22 December 1999