ECAT.INPUTSHIFTU
Description
This parameter allows for modifying how long after the Phase-Locked Loop (PLL) synchronization reference occurs that the EtherCAT input data (TxPDO) is prepared.
The default value for this parameter of -1 indicates the drive automatically adjusts the input offset to be 125 uS prior to the SM2 event, meaning it is not necessarily a fixed value and dynamically adjusts depending on the cycle time, and the master’s SM2 offset from Sync0.
This value only needs to be adjusted to a fixed time if there is an issue with where the input data is prepared in relation to the SM2 event. The goal is to have the SM2 event happen after the input data is prepared so the EtherCAT packet contains the latest feedback data for the controller. If there is a lot of jitter (+/- 125uS) in the SM2 event, the input data may get latched after the SM2 event has occurred and old data sent to the controller. This offset can be adjusted to allow for the input data to be latched earlier to account for the SM2 jitter.
-
- The value is in ns but as the input data is latched in the drive’s 16kHz cycle, only 62,500ns intervals are supported for writing.
Synchronization Error Limit
ECAT.MAXSYNCERROR (Object 10F1h sub 2): Sets a limit for the number of synchronization errors accumulated by the counter objects 1C33h sub 11 (SM2 event missed counter) and 1C33h sub 13 (Shift time too small counter).
If one or both of these counters reach the limit set by ECAT.MAXSYNCERROR, the fault F7011 will be thrown and the EtherCAT communication state will change to SafeOp with an AL status code related to the counter, which exceeded the limit (seeEtherCAT State Machine AL status code).
Context
See Synchronization.
See 1C33h Input SyncManager Parameter
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-06-01-000 |
General Information
|
Type |
Read/Write |
|
Units |
ns |
|
Range |
-1 (default) 0 to 10,000,000 ns (in 62,500 ns intervals) |
|
Default Value |
-1 (Input shift will be set to 125uS prior to the estimated SM2 event time once in OP) |
|
Data Type |
Integer |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
EtherCAT variants: AKD2G-SPE
