Ethercat Protocol Support; Advanced Cyclic Data Task Configuration - Control Techniques Nidec SI-EtherCAT User Manual

8.2 SI-EtherCAT protocol support
The following are supported:
• Four Sync Managers. Two are used for the Mailbox Protocol (non-cyclic data) and two
are used for process data (cyclic data)
• Distributed Clocks
• CANopen over EtherCAT (CoE)
• Functional safety over EtherCAT (FSoE)
8.3

Advanced Cyclic Data Task Configuration

This configuration will allow the timing behaviour of the synchronous cyclic data handling to be
modified; specifically, it will allow the tasks in which synchronous cyclic data is handled to be
changed. It is recommended the objects are not changed from their default values.
On General Purpose drives, the cyclic data tasks are asynchronous (i.e. there is no OPT_SYNC
signal, or equivalent) to the drive tasks; therefore the values of these objects will have no effect.
Table 8-1 Out cyclic data configuration
0x3006 Out cyclic data configuration
Sub-index 0
Access: RO
Default: 2
PDO Mappable: No
Description: The number of the last sub-index in this object.
Sub-index 1
Access: RW
Default: 0
PDO Mappable: No
High priority cyclic data task. Selects the task in which synchronous out (master to slave)
cyclic data is copied to the mapped objects, parameters, etc,
0.
before the OPT_SYNC event.
Description:
1.
OPT_SYNC signal.
2.
update period.
Sub-index 2
Access: RW
Default: 3
PDO Mappable: No
Description: Reserved
OPT_SYNC is an internal signal used for synchronisation purposes on drives that support
synchronisation.
OPT_SYNC occurs every 250 µs and can be synchronised with the EtherCAT network event
SYNC0 (which occurs at a rate dependent on network cycle time configured in the master). For
example, if the network cycle time is 1 ms. Four OPT_SYNC events will occur per SYNC0 event.
With one of the four OPT_SYNC events aligning with the SYNC0 event.
Data arriving from the Master causes the SM2 event to occur. The relationship of this event relative
to SYNC0 is governed by the master, but there should only be one SM2 event per SYNC0 cycle
period.
SI-EtherCAT User Guide
Range: 2
Range: 0 to 2
Pre-Drive Critical update period (default). This is the task that starts execution 75 µs
Drive Critical update period. Occurs for the first 70 µs following an edge of the
Post-Drive Critical update period. The task that occurs immediately after the critical
Range: 0 to 3
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: N/A - Never changes
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: New value used on PreOp ->
SafeOp transition
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: N/A
Unit: N/A
Unit: N/A
Unit: N/A
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