Pcom Timing Configuration - Servotronix CDHD2S User Manual

Application Setup
Figure 6-30 Position comparison trigger output - table configuration

6.11.3 PCOM timing configuration

Note: PCOM timing configuration is only valid in EtherCAT cyclic synchronous operation mode.
Timing configuration is used to set the output state when there is time offset from the SYNC0
signal.
There are at most four time offsets (TM1, TM2, TM3, TM4) that can be used to trigger the
output in an EtherCAT cycle. The offset and output states are defined via four sub-indexes of objects
2205h (PCOM1 module) and 2206h (PCOM2 module).
TM1 must be the minimum value, and the values of TM2, TM3 and TM4 must be gradually
increased.
If the required transition (TR) of a cycle is less than four - for example, if there are only two TRs,
the controller will set it to 2, and the drive will only process TM1 and TM2, and ignore TM3 and
TM4.
The controller increases the counter value, indicating that the time offset PDO takes effect. If
the controller does not increment the counter value, the time offset PDO will be ignored, meaning
the output state will not change.
Timing resolution is 0.1µs.
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