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X20CM4800X - Data sheet V1.04

Name:

ForwardDelay

Register "ForwardDelay" is used to specify the delay time in µs. This is the amount of time the module has to wait after sending a sequence until it is permitted to write new data to the MTU in the following bus cycle. The program routine for receiving sequences from a module can therefore be run in a task class whose cycle time is slower than the bus cycle.

Fig.: Effect of ForwardDelay when using Flatstream communication with the Forward function

In the program, it is important to make sure that the CPU is processing all of the incoming InputSequences and InputMTUs. The ForwardDelay value causes delayed acknowledgment in the output direction and delayed reception in the input direction. In this way, the CPU has more time to process the incoming InputSequence or InputMTU.