NSD ABSOCODER NCW-3DNECMP Specifications & Instruction Manual page 75

APPENDIX 2. DETAILS OF THE OPERATION MODE
APPENDIX 2-1. SM-Synchronous (SM2)
SM-Synchronous (SM2) is a synchronous mode with SM2 event. This mode does the OUTPUT/INPUT data
processing with synchronizing the SM2 event. For more detail, refer to the figure (Synchronous with
SyncManager 2) below.
For NCW-3DNEC, following data is categorized in OUTPUT or INPUT.
- OUTPUT data: PRESET, error clear
- INPUT data: Position data, status input
NOTE
A sending timing of process data (communication frame) must be kept at constant interval by the
master because a SM2 event occurs when reception of the process data (communication frame) is
completed. A synchronization error might occur when a jitter of the sending timing is big.
Use the DC-Synchronous mode if this might become a problem.
PLC/NC
O
I
Communication
: INPUT
I
O
: OUTPUT
●INPUT latch timing
The OUTPUT data processing cannot be executed if the EtherCAT system is in "Safe-operational" state.
Therefore, the processing timing of the following INPUT data moves forward.
T
ask
Calc
SM2 Event
Frame
Frame
1C32: 06
Figure: Synchronous with SyncManager 2
1C32: 02
1C32: 05
1C33: 06
OUTPUT Valid INPUT Latch
68
PLC/NC Task
O Calc
I
Communication
Frame
Frame
INPUT Valid
SM2 Event
: Output Mapping
: Output
: Input
: Input Mapping