Oriental motor aSTEP AZ mini Driver, User Manual

Page: 113 / 172

Object dictionary
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Details of Sync manager 2 synchronization object
Sub Name Description
01h Synchronization type
00h: Free run mode (asynchronous)
01h: Sync manager 2 event synchronization mode
02h: DC mode (SYNC0 event synchronization)
02h Cycle time [ns] Indicates the cycle time of the SYNC0 event.
03h Shift time [ns] The shift time is not supported. The read value is always 0.
04h
Synchronization types
supported
Indicates the synchronization type supported.
Bit 0: Free run mode (asynchronous)
Bit 1: Sync manager 2 event synchronization mode
Bit 2: DC mode (SYNC0 event synchronization)
05h
Minimum cycle time
[ns]
Indicates the minimum cycle time supported.
06h Calc and copy time [ns]
Indicates the minimum value of the internal calculation and copy time that is
needed from the Sync manager 2 event to the SYNC0 event.
09h Delay time [ns] The delay time is not supported. The read value is always 0.
20h Sync error Changes to 1 if the sync error is detected.
z
Sync manager 3 synchronization (1C33h)
This is used to set the synchronization type of the Sync manager 3 (SM3) and indicates the status.
Index Sub Name Type Access PDO Save Range Update
1C33h
00h Number of entries U8 RO No − 20h −
01h Synchronization type U16 RW No −
00h, 02h, 22h
(Initial value: 22h)
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 −
0002 49F0h
(150,000 ns)
−
07h Reserved U32 − − − − −
08h Reserved U16 − − − − −
09h Delay time [ns] U32 RO No − − −
0Ah to 1Fh Reserved U16 − − − − −
20h Sync error BOOL RO No − 0 −
Details of Sync manager 3 synchronization object
Sub Name Description
01h Synchronization type
00h: Free run mode (asynchronous)
02h: DC mode (SYNC0 event synchronization)
22h: Sync manager 2 event synchronization mode
02h Cycle time [ns] Indicates the cycle time of the SYNC0 event.
03h Shift time [ns] The shift time is not supported. The read value is always 0.
04h
Synchronization types
supported
Indicates the synchronization type supported.
Bit 0: Free run mode (asynchronous)
Bit 1: Sync manager 2 event synchronization mode
Bit 2: DC mode (SYNC0 event synchronization)
05h
Minimum cycle time
[ns]
Indicates the minimum cycle time supported.
06h Calc and copy time [ns]
Indicates the minimum value of the internal calculation and copy time that is
needed from the SYNC0 event to the Sync manager 3 event.