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1C32h Output SyncManager Parameter


  • EtherCAT only

This object allows configuring the output sync manager synchronization settings.

Name Sub-Index Description
Synchronization type 1

0 – Free run

1 –Synchronized on SM2 Event (packet received)

2 – Synchronized on DC Sync0

3 – Synchronized on DC Sync1 (not possible on AKD2G)

Cycle time 2 Configured cycle time from DC sync0 when DC is used or from 60C1h/68C1h
Shift time 3 Time between related event and associated action in ns
Sync modes supported 4

Returns a bit encoded value:

Bit Name AKD2G Value
0 Free run supported 1
1 Synchronous supported 1
4-2 DC Type supported 1 (DC Sync0)
6-5 Shift Settings 1 (Output shift with local timer)
9-7 Reserved 0
10 Delay time should be measured 1
11 Delay time is fixed 0
13-12 Reserved 0
14 Dynamic cycle times 0
15 Reserved 0
Minimum cycle time 5 Minimum cycle time supported in ns (250000 for AKD2G)
Calc and copy time 6 Time needed to copy the process data from SM to local memory and perform calculations before using the data
Minimum delay time 7 Minimum hardware delay time when using DC Sync0
Get cycle time 8

Bit 0:

    0: Measurement of local cycle time stopped
    1: Measurement of local cycle time started

If written again, the measured values are reset.

 

Bit 1:

    0: ---
    1: Reset error counters
Delay time 9 Time from receiving the Sync0 trigger to the time value is valid
Sync0 Cycle Time 10 Time between two Sync0 signals
SM-Event Missed 11 Error counter when an expected SM event did not occur
Cycle time too small 12 Error counter when the cycle time is too small; therefore, the drive cycle cannot be completed and data cannot be provided before the next SM event

 

Name Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 1C32h 0h Unsigned8 - - Read only No
Synchronization type 1C32h 1h Unsigned16 - - Read only No
Cycle time 1C32h 2h Unsigned32 - - Read only No
Shift time 1C32h 3h Unsigned32 - - Read only No
Sync modes supported 1C32h 4h Unsigned16 - - Read only No
Minimum cycle time 1C32h 5h Unsigned32 - - Read only No
Calc and copy time 1C32h 6h Unsigned32 - - Read only No
Minimum delay time 1C32h 7h Unsigned32 - - Read only No
Get cycle time 1C32h 8h Unsigned16 - - Read/Write No
Delay time 1C32h 9h Unsigned32 - - Read only No
Sync0 Cycle Time 1C32h Ah Unsigned32 - - Read only No
SM-Event Missed 1C32h Bh Unsigned16 - - Read only No
Cycle time too small 1C32h Ch Unsigned16 - - Read only No

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