Sync Manager Configuration - Control Techniques Nidec SI-EtherCAT User Manual

6.3.4

Sync manager configuration

The sync managers are the EtherCAT means for setting access attributes for different areas of

memory and triggering or notifying the application when the memory is accessed. The following

objects specify how the sync managers (and thus corresponding memory areas) are utilized by the

CoE protocol.

It is possible to map one PDO into each of the Sync Managers. The Sync managers 2 and 3 are

used for high-priority deterministic process cyclic data. The Sync manager 4 and 5 are used for

low-priority non-deterministic process cyclic data.

Table 6-27 Sync manager communication type object

0x1C00

Sync Manager Communication Type

Sub-index 0 - Number of Sync Manager Channels Used

Access: RO

Default:

PDO Mappable: No

Description:

The number of Sync Manager protocols used by the CoE protocol.

Sub-index 1 - Usage of Sync Manager 0

Access: RO

Default:

PDO Mappable: No

Description:

Sync Manager 0 is used by CoE as the mailbox receive channel (SDO, master to slave).

Sub-index 2 - Usage of sync manager 1

Access: RO

Default:

PDO Mappable: No

Description:

Sync Manager 1 is used by CoE as the mailbox send channel (SDO, slave to master).

Sub-index 3 - Usage of Sync Manager 2

Access: RO

Default:

PDO Mappable: No

Description:

Sub-index 4 - Usage of Sync Manager 3

Access: RO

Default:

PDO Mappable: No

Sync Manager 3 is used by CoE as the process data input (TxPDOs, slave to master). PDOs

Description:

will be read, by the master, from the space described by this sync manager.

Sub-index 5 - Usage of Sync Manager 4

Access: RO

Default:

PDO Mappable: No

Sync Manager 4 is used by CoE as a slow/non-deterministic process data output (RxPDOs,

Description:

master to slave). PDOs will be read, by the master, from the space described by this sync

manager.

Range: 6

Range: 1

Range: 2

Range:3

Range: 4

Range: 3

Size: 1 byte

Type: Unsigned integer / USINT