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Appendices
A - 32
NX-series EtherCAT Coupler Unit User’s Manual (W519)
• This object gives the specifications of the EtherCAT communications mode for Sync Manager 2.
• Subindex 01 hex gives the EtherCAT communications mode that you can select for Sync Manager 2
of the EtherCAT Coupler Unit.
0000 hex: Free-Run Mode
0002 hex: DC Mode (Sync0)
This mode is synchronized with the Sync0 event.
• Subindex 02 hex gives the cycle time.
In Free-Run Mode, the time between two local timer events is given.
In DC Mode (Sync0), the synchronization cycle of Sync0 is given.
• Subindex 03 hex gives the shift time of the EtherCAT Slave Terminal. By setting the shift time, the
time from Sync0 until the NX Unit output synchronization timing can be increased by the result of the
following calculation.
Set value of the Shift Time
−
Delay Time (hardware delay time)
When you do not set the shift time, it is the same as the hardware delay time. The shift time is valid
only in DC Mode when the Unit configuration information is registered. When moving from Init state
to Pre-Operational (Pre-Op) state, the shift time is initialized.
• Subindex 04 hex gives the type of synchronization that is supported by the EtherCAT Coupler Unit.
Free-Run Mode and DC Mode (Sync0) are supported.
• Subindex 05 hex gives the minimum cycle time that is supported by the EtherCAT Slave Terminal.
• Subindex 06 gives the amount of time it will take for the EtherCAT Slave Terminal to process the pro-
cess data.
• Subindex 09 hex gives the hardware delay time of the EtherCAT Slave Terminal.
• Subindex 0B hex gives the value of the error counter in the EtherCAT Slave Terminal. This counter is
incremented if processing in the EtherCAT Slave Terminal is not completed within the synchroniza-
tion cycle.
Index
(hex)
Subin-
dex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
map-
ping
Com-
plete
access
1C32
---
Sync Manager 2
Synchronization
---
---
---
---
---
---
---
Possible.
00
Number of Synchro-
nization Parameters
0B hex
0B hex
---
---
1 byte
(U8)
RO
Not
possi-
ble.
---
01
Synchronization
Type
0000 hex
0000 or 0002
hex
---
B
2 bytes
(U16)
RW
Not
possi-
ble.
---
02
Cycle Time
00000000
hex
00000000
to
FFFFFFFF hex
ns
---
4 bytes
(U32)
RO
Not
possi-
ble.
---
03
Shift Time
Depends
on configu-
ration.
00000000
to
FFFFFFFF hex
ns
B
4 bytes
(U32)
RW
Not
possi-
ble.
---
04
Synchronization
Types supported
0005 hex
0005 hex
---
---
2 bytes
(U16)
RO
Not
possi-
ble.
---
05
Minimum Cycle
Time
00000000
hex
00000000
to
FFFFFFFF hex
ns
---
4 bytes
(U32)
RO
Not
possi-
ble.
---
06
Calc and Copy Time
00000000
hex
00000000
to
FFFFFFFF hex
ns
---
4 bytes
(U32)
RO
Not
possi-
ble.
---
09
Delay Time
00000000
hex
00000000
to
FFFFFFFF hex
ns
---
4 bytes
(U32)
RO
Not
possi-
ble.
---
0B
Cycle Time Too
Small
00000000
hex
00000000
to
FFFFFFFF hex
Num-
ber of
times
---
4 bytes
(U32)
RO
Not
possi-
ble.
---
Summary of Contents for NX-ECC201
Page 38: ...Sections in this Manual 36 NX series EtherCAT Coupler Unit User s Manual W519...
Page 46: ...1 EtherCAT Networks 1 8 NX series EtherCAT Coupler Unit User s Manual W519...
Page 56: ...2 Features and System Configuration 2 10 NX series EtherCAT Coupler Unit User s Manual W519...
Page 82: ...4 Part Names and Functions 4 14 NX series EtherCAT Coupler Unit User s Manual W519...
Page 100: ...5 Designing the Power Supply System 5 18 NX series EtherCAT Coupler Unit User s Manual W519...
Page 214: ...9 Setting Up Slave Terminals 9 44 NX series EtherCAT Coupler Unit User s Manual W519...
Page 254: ...11 EtherCAT Coupler Unit Functions 11 30 NX series EtherCAT Coupler Unit User s Manual W519...
Page 278: ...12 Communications Performance 12 24 NX series EtherCAT Coupler Unit User s Manual W519...
Page 340: ...14 Maintenance and Inspection 14 8 NX series EtherCAT Coupler Unit User s Manual W519...
Page 400: ...Appendices A 60 NX series EtherCAT Coupler Unit User s Manual W519...
Page 401: ...Index 1 NX series EtherCAT Coupler Unit User s Manual W519 I Index...
Page 405: ......