Delta R2-EC 004 Series, User Manual

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Object Dictionary R2-ECx004 User Manual
5-10
5
5.4 Sync Manager Communication Objects
5.4.1 Sync Manager Communication Type (1C00h)
In EtherCAT communication, this object sets the communication type of the sync managers.
Index
Sub-
index
Name
Data
type
Access
PDO
mapping
Value
1C00h
0
Number of used Sync
Manager channels
USINT RO NO 4
1
Communication type
sync manager 0
USINT RO NO
1: mailbox
receive
(Master to slave)
2
Communication type
sync manager 1
USINT RO NO
2: mailbox send
(Slave to master)
3
Communication type
sync manager 2
USINT RO NO
3: process data
output
(Master to slave)
4
Communication type
sync manager 3
USINT RO NO
4: process data
input
(Slave to master)
5.4.2 Sync Manager PDO Assignment (1C12h, 1C13h)
In EtherCAT communication, this object assigns the sync manager PDOs.
OD 1C12h Sub-index 2 and OD 1C13h Sub-index 2 are optional objects.
Index
Sub-
index
Name
Data
type
Access
PDO
mapping
Value
1C12h
0
Number of assigned
RxPDOs
USINT RW NO 1 or 2
1
PDO Mapping object
index of assigned
RxPDO 1
UINT RW NO 1600h
2
PDO Mapping object
index of assigned
RxPDO 2
UINT RW NO 1601h
1C13h
0
Number of assigned
TxPDOs
USINT RW NO 1 or 2
1
PDO Mapping object
index of assigned
TxPDO 1
UINT RW NO 1A00h
2
PDO Mapping object
index of assigned
TxPDO 2
UINT RW NO 1A01h