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Table 6-26 Sync manager 5 PDO assignment object
0x1C15
Sync manager 5 PDO assignment
Sub-index 0
Access: RW
Default:
1
The number of TxPDOs assigned to this sync manager (used for low priority
Description:
process cyclic data).
Sub-index 1 to (sub-index 0)
Access: RW
Default:
0
Description:
The object index of a TxPDO to assign to this sync manager.
Sync managers 2 and 3 are used for high-priority deterministic process cyclic data.
Sync managers 4 and 5 are used for low-priority non-deterministic process cyclic data, they
support:
•
A maximum of 32 x 32-bit parameters allowed in each PDO when PDO6 is used (maximum of
12 x 32-bit parameters only in other PDOs).
•
Slot parameter mapping (e.g. SI-Applications Plus menu 7x parameters)
•
Note: when using slot parameter mapping, the data size must be 4 bytes (32 bits)
•
Minimum cycle time of 2 ms.
6.3.5
Feedback encoder source
Table 6-27 Feedback encoder source
0x3000
Position Feedback Encoder Configuration
Sub-index 0
Access: RW
Default:
0
This specifies the source for position controller feedback, and the source for CiA402 position
feedback objects, even when position control is not being performed. This will have a value as
follows:
0 - The feedback source for the position controller will match the drive motor control feedback
source (as specified in menu 3).
1 - Drive feedback source, P1 interface.
2 - Drive feedback source, P2 interface.
3 - Slot 1 position feedback module, P1 interface.
Description:
4 - Slot 1 position feedback module, P2 interface.
5 - Slot 2 position feedback module, P1 interface.
6 - Slot 2 position feedback module, P2 interface.
7 - Slot 3 position feedback module, P1 interface.
8 - Slot 3 position feedback module, P2 interface.
11 - Sensorless (the sensorless algorithm estimates position feedback).
This value will be ignored on drives where no encoder input is present.
This object will be read upon a transition from the EtherCAT Pre-operational state to the Safe-
operational state.
If the position feedback encoder configuration is changed then the change will only be
NOTE
made active upon a module reset or changing the mode of operation (0x6060),
however, if the module is reset to activate the change then a "Sync Task Orun" trip may
be seen.
The value of objects 0x3000 will be ignored on drives which do not support position
NOTE
feedback.
40
Range: 0 to 255
Range: 0x1A00 to 0x1BFF Size: 2 bytes
Range: 0 to 11
Size: 1 byte
Type: USINT
Type: UINT
Size: 1 byte
Type: USINT
SI-EtherCAT User Guide
Unit: N/A
Unit: N/A
Unit: N/A
Issue Number: 2
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