Oriental motor aSTEP AZ mini Driver, User Manual

Page: 112 / 172

Object dictionary
112
3 E
therC
AT c
ommunica
tion
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Sync manager communication type (1C00h)
This is used to set the communication type of Sync manager (SM).
Index Sub Name Type Access PDO Save Range Update
1C00h
00h Number of entries U8 RO No − 4 −
01h
Communication type
sync manager 0
U8 RO No −
1: Mailbox output
(EtherCAT master to driver)
−
02h
Communication type
sync manager 1
U8 RO No −
2: Mailbox input
(Driver to EtherCAT master)
−
03h
Communication type
sync manager 2
U8 RO No −
3: Process data output
(EtherCAT master to driver)
−
04h
Communication type
sync manager 3
U8 RO No −
4: Process data input
(Driver to EtherCAT master)
−
z
Sync manager 2 PDO assignment (1C12h)
This is used to set the object assigned in the Process data output (receive PDO: RxPDO) of the Sync manager 2 (SM2).
It can be changed when the EtherCAT communication state machine is Pre-operational.
Refer to “Setting of PDO mapping object” on p.41 for how to set the PDO mapping.
Index Sub Name Type Access PDO Save Range Update
1C12h
00h Number of entries U8 RW No − 0, 1 (Initial value: 1) A
01h
Index of assigned
PDO 1
U16 RW No −
0000h to FFFFh
(Initial value: 1600h)
A
z
Sync manager 3 PDO assignment (1C13h)
This is used to set the object assigned in the Process data input (transmit PDO: TxPDO) of the Sync manager 3 (SM3).
It can be changed when the EtherCAT communication state machine is Pre-operational.
Refer to “Setting of PDO mapping object” on p.41 for how to set the PDO mapping.
Index Sub Name Type Access PDO Save Range Update
1C13h
00h Number of entries U8 RW No − 0, 1 (Initial value: 1) A
01h
Index of assigned
PDO 1
U16 RW No −
0000h to FFFFh
(Initial value: 1A00h)
A
z
Sync manager 2 synchronization (1C32h)
This is used to set the synchronization type of the Sync manager 2 (SM2) and indicates the status.
Index Sub Name Type Access PDO Save Range Update
1C32h
00h Number of entries U8 RO No − 20h −
01h Synchronization type U16 RW No −
00h, 01h, 02h
(Initial value: 01h)
A
02h Cycle time [ns] U32 RO No − − −
03h Shift time [ns] U32 RO No − 0 −
04h
Synchronization types
supported
U16 RO No − 0007h −
05h
Minimum cycle time
[ns]
U32 RO No −
0003 D090h
(250,000 ns)
−
06h Calc and copy time [ns] U32 RO No −
0001 86A0h
(100,000 ns)
−
07h Reserved U32 − − − − −
08h Reserved U16 − − − − −
09h Delay time [ns] U32 RO No − 0 −
0Ah to 1Fh Reserved U16 − − − − −
20h Sync error BOOL RO No − 0 −