Control Techniques Nidec SI-EtherCAT User Manual page 47

Table 6-32 Sync manager 2 synchronisation
0x1C32 Sync manager 2 synchronisation
Sub-index 0
Access: RO
Default: 12
PDO Mappable: No
Description: The highest sub-index supported.
Sub-index 1: Synchronisation Type
Access: RW
Default: 1
PDO Mappable: No
Synchronisation Type. The following values are supported:
0 = Free Running (all drives)
Description: 1 = SM Sync (All drives)
2 = DC SYNC0 - this will be selected if DC SYNC0 is enabled and in use. (for drives that
support synchronisation e.g. High Performance drives)
Sub-index 2: DC SYNC0 Cycle Time
Access: RO
Default: N/A
PDO Mappable: No
Description: The DC SYNC0 cycle time.
Sub-index 3: Shift Time - not supported
Sub-index 4: Synchronisation Types Supported
Access: RO
Default: 0x0005
PDO Mappable: No
Synchronisation types supported.
0x0001 = Free Run
0x0002 = SM Sync
Description: 0x0004 = DC Sync 0
0x0200 = Measure Delay
For drives that support DC SYNC0 it will be 0x0207. For drives that don't support DC Sync0
then 0x0003
Sub-index 5: Minimum Allowed SYNC0 Cycle Time
Access: RO
Default: 250,000
PDO Mappable: No
Description: Minimum allowed SYNC0 cycle time
Sub-index 6: Calc and Copy Time
Access: RO
Default: 0
PDO Mappable: No
Calc and Copy Time; this minimum amount time between SM2 event and the sync 0 event that
Description:
guarantees new out data will be applied to the outputs.
Sub-index 7: Minimum Delay Time - not supported
SI-EtherCAT User Guide
Range: 12
Range: 0 to 2
Range: 250000 upwards in
multiples of 250000
Range: Bit Mask
Range: 250,000 to 250,000
Range: 0 to Max cycle time
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: N/A - Never changes
Size: 2 bytes
Type: Unsigned integer / UINT
Update Rate: PreOp -> SafeOp transition
Size: 4 bytes
Type: Unsigned integer / UDINT
Update Rate: PreOp -> SafeOp transition
Size: 2 bytes
Type: Bit Mask / UINT
Update Rate: Power on / reset
Size: 4 bytes
Type: Unsigned Integer / UDINT
Update Rate: N/A - Never changes
Size: 4 bytes
Type: Unsigned Integer / UDINT
Update Rate: When any value written to subindex 8
Unit: N/A
Unit: N/A
Unit: Nanoseconds
Unit: N/A
Unit: Nanoseconds
Unit: Nanoseconds
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