Emerson SI-EtherCAT User Manual page 81

Table 8-2 In cyclic data configuration
0x3007 In 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: 2
High priority cyclic data task; selects the task in which high priority in (slave to master) cyclic
data is copied to the intermediate buffer from the mapped objects, parameters, etc.
0 - Pre-Drive Critical update period. The default; this is the task that, on 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 AL event task which occurs upon a sync manager access.
Sub-index 2
Access: RW
Default: 2
Intermediate buffer copy task. Selects the task in which the high priority in (slave to master)
cyclic data is copied from the intermediate buffer into the sync manager space.
0 - Pre Drive Critical update period. The task that, on 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 default; it is the task that occurs immediately after
the critical update period, up until the Pre Drive Critical Update Period.
3 - Sync Manager task. The AL event task which occurs upon a sync manager access.
SI-EtherCAT User Guide
Issue Number: 2
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
Unit: N/A
Unit: ms
Unit: N/A
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