Lika H 58 Series, Руководство пользователя

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Hx58x EtherCAT®
1C00 Sync Manager Communication Type
•
01
SM MailBox Receive (SM0) [Unsigned8, ro] Default = 1
•
02
SM MailBox Send (SM1) [Unsigned8, ro] Default = 2
•
03
SM PDO output (SM2) [Unsigned8, ro] Default = 3
•
04
SM PDO input (SM3) [Unsigned8, ro] Default = 4
1C12-00 Sync Manager RxPDO Assigned
[Unsigned8, ro]
This device does not support receive PDO messages.
Default = 0
1C13-01 Sync Manager TxPDO Assigned
[Unsigned32, ro]
This device uses TxPDO messages to send the position value.
Default = 0000 1A00hex
1C33 Sync Manager input parameter
Some sub-indexes of object 1C33hex are calculated dynamically and depend on
the encoder configuration (programmed resolution, counting direction, …) and
synchronization mode (SM or DC).
•
01 Sync Type [Unsigned16, rw] Default = 1
0: FreeRun
1: Synchronized with SM3 Event
2: DC mode synchronized with SYNC0 event
•
02 Cycle time
[Unsigned32, ro]
this parameter depends on the Sync Type selected:
if “FreeRun”: interval between two position samplings (internal timer);
if “Synchronized with SM3”: min. interval between two SM3 events;
if “Synchronized with DC Sync0”: Sync0 cycle time.
•
03 Shift Time
[Unsigned32, ro]
Interval between the synchronization event and the moment of inputs
latching from hardware. This parameter is calculated dynamically.
•
04 Sync modes supported
[Unsigned16, ro] Default = 7
bit 0: FreeRun (supported)
bit 1: Synchronized with SM3 (supported)
bit 2: Synchronized with DC Sync0 (supported)
•
05 Minimum cycle time [Unsigned32, ro]
Max. duration of the encoder internal cycle time. This parameter is
calculated dynamically and depends on the operating parameters and
the position value.
•
06 Calc and Copy time
[Unsigned32, ro]
Time the internal micro-controller (DSP) needs to make calculations on
latched optical reading of position and then copy updated data from
local memory to ESC memory (Sync Manager) before they are available
to EtherCAT. This parameter is calculated dynamically and depends on
the operating parameters and the position value.
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