Omron NX-ECC201 User Manual page 372

Appendices
Subin-
Index
dex Object name
(hex)
(hex)
1C32 --- Sync Manager 2
Synchronization
00 Number of Synchro-
nization Parameters
01 Synchronization
Type
02 Cycle Time
03 Shift Time
04 Synchronization
Types supported
05 Minimum Cycle
Time
06 Calc and Copy Time
09 Delay Time
0B Cycle Time Too
Small
• This object gives the specifications of the EtherCAT communications mode for Sync Manager 2.
• Subindex 01 hex gives the EtherCAT communications mode that you can select for Sync Manager 2
of the EtherCAT Coupler Unit.
0000 hex: Free-Run Mode
0002 hex: DC Mode (Sync0)
• Subindex 02 hex gives the cycle time.
In Free-Run Mode, the time between two local timer events is given.
In DC Mode (Sync0), the synchronization cycle of Sync0 is given.
• Subindex 03 hex gives the shift time of the EtherCAT Slave Terminal. By setting the shift time, the
time from Sync0 until the NX Unit output synchronization timing can be increased by the result of the
following calculation.
Set value of the Shift Time − Delay Time (hardware delay time)
When you do not set the shift time, it is the same as the hardware delay time. The shift time is valid
only in DC Mode when the Unit configuration information is registered. When moving from Init state
to Pre-Operational (Pre-Op) state, the shift time is initialized.
• Subindex 04 hex gives the type of synchronization that is supported by the EtherCAT Coupler Unit.
Free-Run Mode and DC Mode (Sync0) are supported.
• Subindex 05 hex gives the minimum cycle time that is supported by the EtherCAT Slave Terminal.
• Subindex 06 gives the amount of time it will take for the EtherCAT Slave Terminal to process the pro-
cess data.
• Subindex 09 hex gives the hardware delay time of the EtherCAT Slave Terminal.
• Subindex 0B hex gives the value of the error counter in the EtherCAT Slave Terminal. This counter is
incremented if processing in the EtherCAT Slave Terminal is not completed within the synchroniza-
tion cycle.
A - 32
Default Data range
--- ---
0B hex 0B hex
0000 hex 0000 or 0002
hex
00000000 00000000
hex to
FFFFFFFF hex
Depends 00000000
on configu- to
ration. FFFFFFFF hex
0005 hex 0005 hex
00000000 00000000
hex to
FFFFFFFF hex
00000000 00000000
hex to
FFFFFFFF hex
00000000 00000000
hex to
FFFFFFFF hex
00000000 00000000
hex to
FFFFFFFF hex
This mode is synchronized with the Sync0 event.
Data
Unit Size
attribute
--- --- ---
--- --- 1 byte
(U8)
--- B 2 bytes
(U16)
ns --- 4 bytes
(U32)
ns B 4 bytes
(U32)
--- --- 2 bytes
(U16)
ns --- 4 bytes
(U32)
ns --- 4 bytes
(U32)
ns --- 4 bytes
(U32)
Num- --- 4 bytes
ber of (U32)
times
NX-series EtherCAT Coupler Unit User's Manual (W519)
PDO Com-
Access map- plete
ping access
--- --- Possible.
RO Not ---
possi-
ble.
RW Not ---
possi-
ble.
RO Not ---
possi-
ble.
RW Not ---
possi-
ble.
RO Not ---
possi-
ble.
RO Not ---
possi-
ble.
RO Not ---
possi-
ble.
RO Not ---
possi-
ble.
RO Not ---
possi-
ble.