ABB FECA-01 EtherCAT, User Manual

Page: 92 / 148

92 Communication protocol
Drive synchronization
The following synchronization types are supported:
•
Free run = no synchronization
•
DC sync = synchronization to a DC Sync0 event.
Only ACSM1 drives support drive synchronization. To synchronize
the drive, set the ACSM1 parameter 57.09 KERNEL SYNC MODE
to FBSync.
With the DC sync, the minimum cycle time is 500 microseconds
and the cycle time must be an integral multiple of 500
microseconds. In other words, the allowed cycle time values are
0.5 ms, 1 ms, 1.5 ms etc.
The synchronization type is set by objects 0x1C32 Output sync
manager parameter and 0x1C33 Input sync manager parameter.
The settings for the different synchronization types are listed
below. These settings should be made in the PREOP state.

Free run

DC sync – Synchronous with a DC Sync0 event
When the DC sync is used, the Distributed Clocks must also be
configured to enable DC and SYNC 0. The default configuration is
one Sync0 pulse per bus cycle. This configuration is automatically
set by selecting the DC for synchronization option in the DC
settings at the master (eg, TwinCAT). Since it is the ESI xml file
that provides you with the settings, make sure the correct xml file is
available for the master.
Index/Sub-index Value
0x1C32:01 0
0x1C33:01 0
Index/Sub-index Value
0x1C32:01 2
0x1C33:01 2