User manual

Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 37
Configure Integrated Motion Control Using Kinetix Drives Chapter 1
Set the Base Update Period
The Base Update Period is basically the RPI rate for Ethernet communication
between the controller and the motion module, a Unicast connection.
There are two alternate update periods that you can configure when using the
Axis Scheduling function. See Configure Axis Scheduling on page 77
for details.
The Base Update Period determines how often the Motion Task runs. When the
Motion Task runs, it interrupts most other tasks regardless of their priority. The
Motion Task is the part of the controller that takes care of position and velocity
information for the axes.
Follow these steps to set the Base Update Period.
1. Click the Attribute tab in the Motion Group Properties dialog box.
2. Set the Base Update Period to 2.0…32.0 ms.
TIP
Check the Last Scan time values. Typically, the value is less than 50% of
the Base Update Period.