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20 EtherCAT synchronisation
To synchronise the application, there are two modes you can select in the
engineering system
– FreeRun
(process data update by means of a device-internal application cycle)
– SM Synchronous (process data update in case of an SM event)
20.1 FreeRun
In this mode, the EtherCat communication system and the I/Os work
asynchronously The I/Os are in the auto run state and are running with the
minimum cycle time possible for the current module configuration This mode is set
by default in the device
20.2 SM Synchronous
In this mode, the EtherCat communication system and the I/Os function
asynchronously With each Sync Manager Event (bus cycle), the IOs are
exchanged between the EtherCat bus and the device
It is possible to synchronise on the SM2 (Sync Manager for data from the master
to the slave) or on the SM3 (Sync Manager for data from the slave to the master)
If the device is configured for input and output data, it makes sense to use the
SM2
If only input data is configured (data from the slave to the master), synchronisation
can also take place on the SM3
The setting must be written in the PRE-Operational state into the Subobject1 of
the objects 1C12
hex
Recommended setting: 1C12
Detailed information about this can be found in the specification ETG1020
In order to make sure that the parameters do not need to be set again and again in the object
directory, they can be set in the start-up parameters
21 EtherCat object directory (CoE objects)
The object directory of the device contains objects that can be addressed via the
SDO services The device supports standard objects and manufacturer-specific
objects The standard objects are described in the ETG status ETG10006
(Application Layer Protocol Specification)
It supports Modular Device Profiles - specific objects that are described in the
ETG standard ETG50013 At the same time, manufacturer-specific objects are
supported that will be described in detail in the following
(SM2) and 1C13
hex
: 1 = 01
hex
(SM3)
and 1C13
: 1 = 22
hex
hex
IO-Link Master EtherCat
hex
33
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