Control Techniques Nidec SI-EtherCAT User Manual page 55

When the drive profiles have been disabled by setting Pr S.00.033 to ON, then Cyclic Data loss
actions 0 & 1 will still raise a warning and trip respectively, but the motor will not be stopped as it is
not under the control of EtherCAT.
The table below shows the number of lost PDOs before the motor will be placed into the stopping
state (0x3005:2 values 0 or 1) for each network cycle time.
Table 6-39 The number of lost PDOs
Network Cycle
Period
0
250 µs 1
500 µs 1
1 ms 1
2 ms 1
4 ms 1
Setting a value of the timeout below the value of the network cyclic time, sets the fast reaction
mode. In this mode a late or missing PDO will cause the PDO action to be applied. Lateness can be
due to incorrect Shift offset setting in the Master.
SI-EtherCAT User Guide
0x3005:1 Timeout value
1 2
8-11 12-15
4-5 6-7
2-3 3-4
1 1-2
1 1
3 4
16-19 20-23
8-9 10-11
4-5 5-6
2 2-3
1 1
5 6
24-27 28-31
12-13 14-15
6-7 7-8
3 3-4
1 2
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