15.4 Sync Manager Communications Objects
15-15
15
Object Dictionary
Sync Manager 3 (Process Data Input) Synchronization
Sync Error Settings (10F1h)
Note: Both 10F1h and 1F01h have the same function. You can set either object.
0x10F1h: 2 Sync Error Counter Limit
This object defines the allowable number of failures when receiving process data. If the value of
the internal error counter in the SERVOPACK exceeds the value of this object, the SERVO-
PACK will detect an alarm (A12h) and change the ESM state to SAFEOP.
The SERVOPACK increments the internal error counter by 3 if the process output data is not
updated (i.e., if a reception event does not occur) when the synchronization event (Sync0)
occurs. When the process output data is updated normally, the internal error counter is decre-
mented by 1. The internal error counter is reset when the EtherCAT communications state
changes from SAFEOP to OP.
An example of internal error counter operation is shown below.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
1C33h
0
Number of synchroni-
zation parameters
USINT
RO
No
10
No
1
Synchronization type
UINT
RO
No
Same as 1C32h:
01.
No
2
Cycle time
UDINT
RO
No
Same as 1C32h:
02.
No
3
Shift time
UDINT
RW
No
125,000 × n [ns]
(n = 1, 2, 3…)
Range: 0 to
(Sync0 event cycle
-125,000)
Yes
4
Synchronization types
supported
UINT
RO
No
Bit 0 = 1: Free-Run
supported.
Bits 2 to 4 = 001:
DC Sync0 sup-
ported
Bits 5 and 6 = 01:
Input shift with local
timer supported.
No
5
Minimum cycle time
UDINT
RO
No
Same as 1C32h:
05.
No
6
Calc and copy time
UDINT
RO
No
62,500 [ns]
No
7
Reserved
UDINT
RO
No
−
No
8
Reserved
UINT
RO
No
−
No
9
Delay time
UDINT
RO
No
0
No
10
Sync0 cycle time
UDINT
RO
No
Same as 1C32h:
10.
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
10F1h
0
Number of entries
USINT
RO
No
2
No
1
Reserved
UDINT
RO
No
0
No
2
Sync error counter limit
UDINT
RW
No
0 to 15 (default: 9)
Yes
Reception (SM2) event
1
0
1
0
1
0
1
0
1
0
1
SERVOPACK internal
error counter
(Error Counter Limit = 9)
0
3
2
5
4
7
6
9
(Error)
9
9
9