1C33h Input SyncManager Parameter


  • EtherCAT only

This object allows configuring the input sync manager synchronization settings.

Name Sub-Index Description
Synchronization type 1

0 – Free run

1 –Synchronized on SM3 Event

2 – Synchronized on DC Sync0

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

0x22 – Synchronous with SM2 Event
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.INPUTSHIFTU
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 (Input shift with local timer)
13-7 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 perform data calculations and copy process data to the SM from local memory
Reserved 7  
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 Only used in Sync1 mode (not supported by AKD2G) if input latch is started by the Sync1-event
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 1C33h 0 Unsigned8 - - Read only No All
Synchronization type 1C33h 1 Unsigned16 - - Read only No All
Cycle time 1C33h 2 Unsigned32 - - Read only No All
Shift time 1C33h 3 Unsigned32 - - Read/Write No All
Sync modes supported 1C33h 4 Unsigned16 - - Read only No All
Minimum cycle time 1C33h 5 Unsigned32 - - Read only No All
Calc and copy time 1C33h 6 Unsigned32 - - Read only No All
Minimum delay time 1C33h 7 Unsigned32 - - Read only No All
Get cycle time 1C33h 8 Unsigned16 - - Read/Write No All
Delay time 1C33h 9 Unsigned32 - - Read only No All
Sync0 Cycle Time 1C33h 10 Unsigned32 - - Read only No All
SM-Event Missed 1C33h 11 Unsigned16 - - Read only No All
Cycle time too small 1C33h 12 Unsigned16 - - Read only No All
Shift time too short 1C33h 13 Unsigned16 - - Read only No All
Gap entry 14 1C33h 14 Unsigned8 - - Read only No All
Gap entry 15 1C33h 15 Unsigned8 - - Read only No All
Gap entry 16 1C33h 16 Unsigned8 - - Read only No All
Gap entry 17 1C33h 17 Unsigned8 - - Read only No All
Gap entry 18 1C33h 18 Unsigned8 - - Read only No All
Gap entry 19 1C33h 19 Unsigned8 - - Read only No All
Gap entry 20 1C33h 20 Unsigned8 - - Read only No All
Gap entry 21 1C33h 21 Unsigned8 - - Read only No All
Gap entry 22 1C33h 22 Unsigned8 - - Read only No All
Gap entry 23 1C33h 23 Unsigned8 - - Read only No All
Gap entry 24 1C33h 24 Unsigned8 - - Read only No All
Gap entry 25 1C33h 25 Unsigned8 - - Read only No All
Gap entry 26 1C33h 26 Unsigned8 - - Read only No All
Gap entry 27 1C33h 27 Unsigned8 - - Read only No All
Gap entry 28 1C33h 28 Unsigned8 - - Read only No All
Gap entry 29 1C33h 29 Unsigned8 - - Read only No All
Gap entry 30 1C33h 30 Unsigned8 - - Read only No All
Gap entry 31 1C33h 31 Unsigned8 - - Read only No All
Sync error 1C33h 32 Unsigned8 - - Read only Yes All