turck 6827380, Instructions For Use Manual

Page: 17 / 127

15
2020/09
Sync Manager Communication Type (0×1C00)
This object describes the use of the Sync Manager channels.
Sync Manager PDO Assign (0×1C12 and 0×1C13)
The PDO Assign objects are used to describe which PDO shall be transmitted with the EtherCAT
input and output data.

Access: RO
The sub-objects of the Assign objects point to the RxPDO and TxPDO Mapping objects.
The mapping for both, for input and output data, is done as follows:
1
The PDOs of all analog and technology modules are mapped at first
2 followed by the PDOs of the digital modules.
3
To get a word boundary for the process data an additional gap PDO may be present after the dig -
ital modules. The gap PDO is not visible in the object dictionary.
4 After the process data PDOs, the gateway status PDO and gateway control PDO follow. These
special PDOs represent the objects 0×F100 (status, see Device Status Object (0×F100) (page
22) ) and 0×F200 (control, see Device Control Object (0×F200) (page 22) ).
The structure of the process data image thus always depends on the modules connected to the
gateway and is constant for that specific station configuration.
Example-Mapping
An example mapping can be found in chapter 6 , Adding a device specific *.xml-file (page 66) .
Sync Manager Synchronization (0×1C32 and 0×1C33)
These objects contain the information about the synchronization behavior of the device as
described in the ETG1020 (EtherCAT Protocol Enhancements). Device Status Object (0×F100)
(page 22)
BL20 supports Free Run synchronization, which means, that the EtherCAT-slave is not running syn -
chronously with EtherCAT. The slave does not work synchronously with the EtherCAT-cycle, but has
it's own cycle.

Access: RO
Sync Manager Channel Description
0 Mailbox Write (EtherCAT Master view)
1 Mailbox Read (EtherCAT-Master view)
2 Process output data (EtherCAT-Master view)
3 Process input data (EtherCAT-Master view)