Orientalmotor AZX Series Operating Manual page 152

Objects of CoE communication area
Details of Sync Manager 2 Synchronization objects
Sub
01h Synchronization Type
02h Cycle Time [ns]
03h Shift Time [ns]
04h Synchronization Types supported
05h Minimum Cycle Time [ns]
06h Calc and Copy Time [ns]
09h Delay Time [ns]
20h Sync Error
z Sync Manager 3 Synchronization (1C33h)
This is used to set the Synchronization Type of the Sync Manager 3 (SM3) and indicates the status.
Index Sub
00h
01h
02h
03h
04h
05h
1C33h
06h
07h
08h
09h
0Ah to 1Fh Reserved
20h
Details of Sync Manager 3 Synchronization objects
Sub
01h Synchronization Type
02h Cycle Time [ns]
03h Shift Time [ns]
04h Synchronization Types supported
05h Minimum Cycle Time [ns]
06h Calc and Copy Time [ns]
09h Delay Time [ns]
20h Sync Error
152
Name
00h: Free Run mode (asynchronous)
01h: Sync Manager 2 event synchronization mode
02h: DC mode (SYNC0 event synchronization)
Indicates the Cycle Time of the SYNC0 event.
The Shift Time is not supported. The read value is always 0.
Indicates the Synchronization Type supported.
Bit0: Free Run mode (asynchronous)
Bit1: Sync Manager 2 event synchronization mode
Bit2: DC mode (SYNC0 event synchronization)
Indicates the Minimum Cycle Time supported.
Indicates the minimum value of the internal calculation and copy time that
is needed from the Sync Manager 2 event to the SYNC0 event.
The Delay Time is not supported. The read value is always 0.
Changes to 1 if the Sync Error is detected.
Name Type
Number of entries U8
Synchronization Type U16
Cycle Time [ns] U32
Shift Time [ns] U32
Synchronization Types
U16
supported
Minimum Cycle Time [ns] U32
Calc and Copy Time [ns] U32
Reserved U32
Reserved U16
Delay time [ns] U32
U16
Sync Error BOOL
Name
00h: Free Run mode (asynchronous)
02h: DC mode (SYNC0 event synchronization)
22h: Sync Manager 2 event synchronization mode
Indicates the Cycle Time of the SYNC0 event.
The Shift Time is not supported. The read value is always 0.
Indicates the Synchronization Type supported.
Bit0: Free Run mode (asynchronous)
Bit1: Sync Manager 2 event synchronization mode
Bit2: DC mode (SYNC0 event synchronization)
Indicates the Minimum Cycle Time supported.
Indicates the minimum value of the internal calculation and copy time that
is needed from the SYNC0 event to the Sync manager 3 event.
The Delay Time is not supported. The read value is always 0.
Changes to 1 if the Sync Error is detected.
Description
Access PDO Save Initial value
RO No − 20h
RW No − 02h
RO No −
RO No −
RO No − 0007h
0003 D090h
RO No −
(250,000 ns)
0002 49F0h
RO No −
(150,000 ns)
− − −
− − −
RO No −
− − −
RO No −
Description
Range Update
− −
00h, 02h, 22h A
− − −
0 − −
− −
− −
− −
− − −
− − −
0 − −
− − −
0 − −