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 60C2h/68C2h
Shift time 3 Time between related event and associated action in ns - see ECAT.PLLOFFSET
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
Shift time too small 13 Error counter when the shift time (Subindex 3) is too small. Setpoint data came too early and before the actual data could be provided to the EtherCAT master.

 

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable SMM Versions
Highest sub-index supported 1C32h 0 Unsigned8 - - Read only No All
Synchronization type 1C32h 1 Unsigned16 - - Read only No All
Cycle time 1C32h 2 Unsigned32 - - Read only No All
Shift time 1C32h 3 Unsigned32 - - Read/Write No All
Sync modes supported 1C32h 4 Unsigned16 - - Read only No All
Minimum cycle time 1C32h 5 Unsigned32 - - Read only No All
Calc and copy time 1C32h 6 Unsigned32 - - Read only No All
Minimum delay time 1C32h 7 Unsigned32 - - Read only No All
Get cycle time 1C32h 8 Unsigned16 - - Read/Write No All
Delay time 1C32h 9 Unsigned32 - - Read only No All
Sync0 Cycle Time 1C32h 10 Unsigned32 - - Read only No All
SM-Event Missed 1C32h 11 Unsigned16 - - Read only No All
Cycle time too small 1C32h 12 Unsigned16 - - Read only No All
Shift time too short 1C32h 13 Unsigned16 - - Read only No All
Gap entry 14 1C32h 14 Unsigned8 - - Read only No All
Gap entry 15 1C32h 15 Unsigned8 - - Read only No All
Gap entry 16 1C32h 16 Unsigned8 - - Read only No All
Gap entry 17 1C32h 17 Unsigned8 - - Read only No All
Gap entry 18 1C32h 18 Unsigned8 - - Read only No All
Gap entry 19 1C32h 19 Unsigned8 - - Read only No All
Gap entry 20 1C32h 20 Unsigned8 - - Read only No All
Gap entry 21 1C32h 21 Unsigned8 - - Read only No All
Gap entry 22 1C32h 22 Unsigned8 - - Read only No All
Gap entry 23 1C32h 23 Unsigned8 - - Read only No All
Gap entry 24 1C32h 24 Unsigned8 - - Read only No All
Gap entry 25 1C32h 25 Unsigned8 - - Read only No All
Gap entry 26 1C32h 26 Unsigned8 - - Read only No All
Gap entry 27 1C32h 27 Unsigned8 - - Read only No All
Gap entry 28 1C32h 28 Unsigned8 - - Read only No All
Gap entry 29 1C32h 29 Unsigned8 - - Read only No All
Gap entry 30 1C32h 30 Unsigned8 - - Read only No All
Gap entry 31 1C32h 31 Unsigned8 - - Read only No All
Sync error 1C32h 32 Unsigned8 - - Read only Yes All