Omron R88D-1SN10F-ECT User Manual page 685

Value
0000 hex
0001 hex
0002 hex
0003 hex
• Subindex 02 hex Cycle Time gives the cycle in nanoseconds.
• Subindex 03 hex Shift Time sets the delay time from Sync0 to signal output.
• Subindex 04 hex Synchronization Types supported gives the types of synchronization supported
by this Servo Drive.
Bit
1 Synchronous Supported
2 to 4 DC Type Supported DC (1: Sync0)
• Subindex 05 hex Minimum Cycle Time gives the time required for this Servo Drive to process the
reception or transmission PDO.
• Subindex 06 hex Calc and Copy Time gives the internal processing time from data reception to sig-
nal output.
• Subindex 09 hex Delay Time gives the hardware-related delay time from signal output to actual out-
put via the terminal.
• Subindex 0B hex Cycle Time Too Small gives the number of times which input data could not be
updated because the internal processing was not completed before the next SM event.
Sub-
Index
index Object name
(hex)
(hex)
1C33 --- Sync Manager
3 Synchroniza-
tion
00 Number of
Synchroniza-
tion Parame-
ters
01 Synchroniza-
tion Type
02 Cycle Time
03 Shift Time
04 Synchroniza-
tion Types sup-
ported
05 Minimum
Cycle Time
06 Calc and Copy
Time
09 Delay Time
0B Cycle Time
Too Small
• This object gives the parameters for synchronization of Sync Manager 3.
• Subindex 01 hex Synchronization Type gives the synchronization mode of Sync Manager 3.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Free Run
Synchronous
DC Sync0
DC Sync1
Description
Setting Default
Unit
range setting
--- ---
--- --- 0C hex
0000 to --- 0000 hex
0003 hex
--- ns 0000 0000
hex
0 to ns
FFFF FFFF
hex
--- --- 0026 hex
--- ns 125,000
--- ns 125,000
--- ns 31,250
--- ---
Description
Data
attri- Size Access
bute
--- --- ---
--- 1 byte
(U8)
A 2 bytes
(U16)
--- 4 bytes
(U32)
0 A 4 bytes
(U32)
--- 2 bytes
(U16)
--- 4 bytes
(U32)
--- 4 bytes
(U32)
--- 4 bytes
(U32)
--- --- 4 bytes
(U32)
Appendices
Com-
PDO Modes of
plete
map operation
access
--- --- Possible
RO --- ---
W --- ---
RO --- ---
W --- ---
RO --- ---
RO --- ---
RO --- ---
RO --- ---
RO --- ---
A
---
---
---
---
---
---
---
---
---
---
A - 37