FBM201d
FBM201d
FBM201d
FBM201d
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SERCOS总线在正常运行阶段一个通讯周期的工作时序如图5所示。周期时间Tscyc可以取（0.062，0.125，0.25，0.5，1，2，3，…，65）ms，这主要决定于控制方式和从站数量。SERCOS协议定义了主站同步电报MST、伺服电报AT和主站数据电报MDT三种电报类型。主站同步电报MST由主站以固定周期发向所有从站，表示一次通讯周期开始，所有从站都将同时接收到该电报，主站通过它来控制各个从站的同步运行；伺服电报AT由各个伺服从站发往主站，可将多种伺服信息实时反馈给主站，如伺服轴实际位置、转速、转矩、报警信号、诊断信号、状态应答信号、伺服参数和电机参数等；主站数据电报MDT由主站发给从站，用于向从站发出控制指令，如伺服轴指令位置、转速、转矩、工作方式选择、伺服参数和电机参数等，各个从站均能接收到此电报，并在指定位置找到各自的数据。 
图5 SERCOS总线正常运行阶段的工作时序SERCOS协议规定，在正常运行阶段之前，主站需要检测SERCOS环路是否闭合，识别环路上的伺服装置，并且完成网络通讯参数的配置，主要包括系统通讯周期Tscyc，各个伺服电报ATx的发送时刻T1.1、T1.2、…、T1.N，主站数据电报MDT的发送时刻T2，各伺服装置开始采样反馈数据的时刻T4，各个从站控制数据在MDT数据区中的位置和MDT的长度等。可见，SERCOS接口的初始化过程是比较复杂的。为此，1995年RexrothIndramat公司开发出了主动式的SERCOS接口主控卡，称为“SERCANS”。
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