Can Not Get a Required TPDO Rate with CANOpen NI-9881

Updated May 25, 2018

Reported In

Hardware

  • NI-9881
  • CompactRIO Controller

Driver

  • NI-Industrial Communications for CANopen

Issue Details

I can't achieve a maximum rate for reading TPDO from CANOpen salve using NI-9881 CANOpen C series module. I would like to get a read TPDO rate about 1kHz (1ms period), but I see that I can increase rate up to 100Hz read rate.
Is there any limitations with NI 9881 in TPDO reading rate?
How we can achieve maximum TPDO reading rate?

Solution

If there are new data available for reading, the TPDO Read.vi will output new data. Based on the problem description no new data was sent by the CANOpen Slave faster than 100Hz.

In order to set up 1kHz TPDO reading you can define communication with Sync Message:
  1. add SDO Write in order to configure CANOpen Slave to send new data after getting Sync Message
  2. perform Sync Message sending
  3. set period of a TPDO reading Loop equal to 1ms
New Data Period should be equal to 1ms.

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