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SFA-5000 • SFA-10000 EtherCAT
Synchronous with SM3
In this mode data is sampled and then copied into Sync Manager buffer as soon
as previous data was read from the Master (SM event); in this way new sampled
data is synchronous with Master readings.
New data will be read by the Master at next cycle (following SM3 event), so if
cycle time is too long, data could be relatively old for a real-time system.
The main advantage is that data is updated exactly when Master is reading
(synchronous mode).
Description Min Typ Max
Jitter 0 7.2 ns
Cycle Time 62.5 64000 µs
See the
1C33 SM input parameter
entry on page 66.
Synchronous with DC SYNC0
In this operating mode data is sampled and then copied into Sync Manager
buffer simultaneously at SYNC0 event generated by the ESC capture/compare
unit.
Time required for accomplishing these operations is set next to the
1C33 SM
input parameter
object; in particular object
03 Shift time
(1C33hex, sub3) and
object 06 Calc and Copy time (1C33hex, sub6).
MAN SFA_5000_10000_EC E 1.0.odt 6 - EtherCAT® interface 54 of 84
0x1C33:02 (Cycle Time)
0x1C33:03 (Shift Time)
0x1C33:06
(Calc & Copy)
Jitter
SM3 Event
Input Latch
SM3 Event
Frame N
Frame N+1
0x1C33:02 (Cycle Time)
Sync0 Event
Frame N
Frame N+1
Sync0 Event
SM3 Event SM3 Event
0x1C33:03 (Shift Time)
0x1C33:06
(Calc & Copy)
Jitter
Input Latch