1、Beckhoff耦合器 DP Cycle和K-bus cycle的同步
参考 -> PROFIBUS DP Communication -> Cyclic Data Exchange -> K-Bus Cycle
K-bus分为2种模式工作： FreeRun / Synchronous
● FreeRun (与DP Cycle无关)
FreeRun又分为Slow和Fast两种模式。
Slow FreeRun：It is a characteristic feature of the Slow FreeRun mode that the K-Bus cycle is called from the main task. Acyclic communication or events result in heavy jitter in the K-Bus cycle (KS2000, DPV1, terminal diagnosis, etc.), because all of these functions are also called from the main task.
Fast FreeRun：The K-Bus cycle is called under time control from a high priority task. Following completion of the K-Bus cycle, the lower priority tasks (DPV1, KS2000 interface, etc.).
如图，与slow freerun模式相比，fast的k-bus执行有更为固定的循环周期。
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