1C33h Input SyncManager Parameter

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 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 (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

 

Name Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 1C33h 0h Unsigned8 - - Read only No
Synchronization type 1C33h 1h Unsigned16 - - Read only No
Cycle time 1C33h 2h Unsigned32 - - Read only No
Shift time 1C33h 3h Unsigned32 - - Read only No
Sync modes supported 1C33h 4h Unsigned16 - - Read only No
Minimum cycle time 1C33h 5h Unsigned32 - - Read only No
Calc and copy time 1C33h 6h Unsigned32 - - Read only No
Minimum delay time 1C33h 7h Unsigned32 - - Read only No
Get cycle time 1C33h 8h Unsigned16 - - Read/Write No
Delay time 1C33h 9h Unsigned32 - - Read only No
Sync0 Cycle Time 1C33h Ah Unsigned32 - - Read only No
SM-Event Missed 1C33h Bh Unsigned16 - - Read only No
Cycle time too small 1C33h Ch Unsigned16 - - Read only No