Emerson SI-EtherCAT User Manual page 80

Table 8-1 Out cyclic data configuration
0x3006 Out cyclic data configuration
Sub-index 0
Access: RO
Default: 2
Description: The number of the last sub-index in this object.
Sub-index 1
Access: RW
Default: 0
High priority cyclic data task; selects the task in which high priority out (master to slave)
cyclic data is copied from the intermediate buffer to the mapped objects, parameters, etc.
0 - Pre-Drive Critical update period. The default; this is the task that, on Unidrive M600 and
above, starts execution 75 µs before the drive critical update period. This time may need to
be modified after measuring actual task periods (hopefully it will be possible to start at a time
closer to the critical update period).
Description:
1 - Drive Critical update period. Occurs for the first 70 µs following an edge of the
OPT_SYNC signal.
2 - Post-Drive Critical update period. The task that occurs immediately after the critical
update period, up until the Pre Drive Critical Update Period.
3 - Sync Manager task. This is the AL event task which occurs upon a sync manager access.
Sub-index 2
Access: RW
Default: 3
Intermediate buffer copy task. Selects the task in which the high priority out (master to slave)
cyclic data is copied into the intermediate buffer from the EtherCAT sync manager space.
0 - Pre-Drive Critical update period. The task that, on Unidrive M600 and above, starts
execution 75 µs before the drive critical update period. This time may need to be modified
after measuring actual task periods (hopefully it will be possible to start at a time closer to the
critical update period).
Description:
1 - Drive Critical update period. Occurs during the first 70 µs following an edge of the
OPT_SYNC signal.
2 - Post-Drive Critical update period. The task that occurs immediately after the critical
update period, up until the Pre Drive Critical Update Period.
3 - Sync Manager task. The default; it is the AL event task which occurs upon a sync
manager access.
80
Range: N/A
Range: 0 to 2
Range: 0 to 2
Size: 1 byte
Type: USINT
Size: 1 byte
Type: USINT
Size: 1 byte
Type: USINT
SI-EtherCAT User Guide
Unit: N/A
Unit: ms
Unit: N/A
Issue Number: 2