Is there a known order or way the MpAxisBasic block initializes axes. We removed the initialization/parameter tables from the mapping table to try to remove confusion of initialization from ACP10 init tables and MpAxisBasic configurations. But it seems to have increased the boot time of the axes, or at least time between PLC power up and motion is ready on all axes.
It appears the initialization is not speed up by having multiple mpaxisconfig files and minimizing number of axes in said tables. It also appears initialization is prioritized by POWERLINK node number, and not by execution order of tasks in code
POWERLINK cycle time is 400 us, using PRC, little to no multiplexing.
More than 2 minutes in rough estimate. More accurate data can be recorded.
This post leaves me confused, so sorry for asking: MpAxisBasic is mappMotion, not ACP10. It also doesn’t have a mapping table anywhere, since they do configuration totally differently. Are you mixing two topics or am I not understanding the current setup or, …?
I’m not working with motion, so I’m not sure if the following information is relevant for motion systems. But as I remember, at least 2 things can influence the boot up of POWERLINK devices in general:
Is physical daisy-chain wiring in the same order then the node numbers? So node number 1 is the first device in daisy chain wiring scheme, number 2 is the 2nd device, and so on…
How is the size of the asynchronous slot of POWERLINK (MTU), and can it be increased (maximum is around 1500 byte as I remember)?