YASKAWA SGD7S-1R9D Product Manual page 446

 Sync Manager 3 (Process Data Input) Synchronization
Subin-
Index
dex
Number of synchroni-
0
zation parameters
1 Synchronization type
2 Cycle time
3 Shift time
1C33 hex
Synchronization types
4
supported
5 Minimum cycle time
6 Calc and copy time
7 Reserved
8 Reserved
9 Delay time
10 Sync0 cycle time
Sync Error Settings (10F1 Hex)
Subin-
Index
dex
0 Number of entries
10F1 hex 1 Reserved
2 Sync error counter limit
Note: Both 10F1 hex and 1F01 hex have the same function. You can set either object.
 0x10F1 Hex: 2 Sync Error Counter Limit
This object defines the allowable number of failures when receiving process data. If the value of
the internal error counter in the SERVOPACK exceeds the value of this object, the SERVO-
PACK will detect an alarm (A12 hex) and change the ESM state to SAFEOP.
The SERVOPACK increments the internal error counter by 3 if the process output data is not
updated (i.e., if a reception event does not occur) when the synchronization event (Sync0)
occurs. When the process output data is updated normally, the internal error counter is decre-
mented by 1. The internal error counter is reset when the EtherCAT communications state
changes from SAFEOP to OP.
An example of internal error counter operation is shown below.
Reception (SM2) event 1
SERVOPACK internal
error counter 0
(Error Counter Limit = 9)
Data
Name Access
Type
USINT
UINT
UDINT
UDINT
UINT
UDINT
UDINT
UDINT
UINT
UDINT
UDINT
Data
Name Access
Type
USINT
UDINT
UDINT
0 1 0 1
3 2 5 4
14.4 Sync Manager Communications Objects
PDO
Value
Mapping
RO No 10
Same as 1C32 hex:
RO No
01.
Same as 1C32 hex:
RO No
02.
125,000 × n [ns]
(n = 1, 2, 3...)
RW No Range: 0 to
(Sync0 event cycle
-125,000)
Bit 0 = 1: Free-Run
supported.
Bits 2 to 4 = 001:
DC Sync0 sup-
RO No
ported
Bits 5 and 6 = 01:
Input shift with local
timer supported.
Same as 1C32 hex:
RO No
05.
RO No 62,500 [ns]
−
RO No
−
RO No
RO No 0
Same as 1C32 hex:
RO No
10.
PDO
Value
Mapping
RO No
RO No
RW No 0 to 15 (default: 9)
0 1 0
9
7 6
(Error)
Saving to
EEPROM
No
No
No
Yes
No
No
No
No
No
No
No
Saving to
EEPROM
2 No
0 No
Yes
1 0 1
9 9 9
14-15
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