Orientalmotor AZX Series Operating Manual page 151

z Sync Manager communication (1C00h)
This is used to set the communication type of Sync Manager (SM).
Index Sub Name
00h Number of entries
Communication type
01h
sync manager 0
Communication type
02h
1C00h sync manager 1
Communication type
03h
sync manager 2
Communication type
04h
sync manager 3
z Sync Manager 2 PDO assignment (1C12h)
This is used to set the object assigned in the Process data output (receive PDO: RxPDO) of the Sync manager 2 (SM2).
It can be changed when the EtherCAT communication state machine is Pre-Operational.
Refer to p.81 for how to set the PDO mapping.
Index Sub
00h Number of entries
1C12h
01h Index of assigned PDO 1
z Sync Manager 3 PDO assignment (1C13h)
This is used to set the object assigned in the Process data input (transmit PDO: TxPDO) of the Sync manager 3 (SM3).
It can be changed when the EtherCAT communication state machine is Pre-Operational.
Refer to p.81 for how to set the PDO mapping.
Index Sub
00h Number of entries
1C13h
01h Index of assigned PDO 1
z Sync Manager 2 Synchronization (1C32h)
This is used to set the Synchronization Type of the Sync Manager 2 (SM2) and indicates the status.
Index Sub
00h Number of entries
01h Synchronization Type
02h Cycle Time [ns]
03h Shift time [ns]
Synchronization Types
04h
supported
05h Minimum Cycle Time [ns]
1C32h
06h Calc and Copy Time [ns]
07h Reserved
08h Reserved
09h Delay Time [ns]
0Ah to 1Fh Reserved
20h Sync Error
Type Access
U8 RO
U8 RO
U8 RO
U8 RO
U8 RO
Name Type Access
U8 RW
U16 RW
Name Type Access
U8 RW
U16 RW
Name Type
U8
U16
U32
U32
U16
U32
U32
U32
U16
U32
U16
BOOL
Objects of CoE communication area
PDO Save Initial value
No − 4
1: Mailbox output
No −
(MainDevice to driver)
2: Mailbox input
No −
(Driver to MainDevice)
3: Process data output
No −
(MainDevice to driver)
4: Process data input
No −
(Driver to MainDevice)
PDO Save Initial value
No − 1
No − 1600h
PDO Save Initial value
No − 1
No − 1A00h
Access PDO Save Initial value
RO No −
RW No −
RO No −
RO No −
RO No −
0003 D090h
RO No −
(250,000 ns)
0001 86A0h
RO No −
(100,000 ns)
− − −
− − −
RO No −
− − −
RO No −
Range Update
− −
− −
− −
− −
− −
Range Update
0 to 1 A
0000h to FFFFh A
Range Update
0 to 1 A
0000h to FFFFh A
Range Update
20h − −
02h 00h to 02h A
− − −
0 − −
0007h − −
− −
− −
− − −
− − −
0 − −
− − −
0 − −
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