SFA-5000 • SFA-10000 EtherCAT
02 SM MailBox Send (SM1)
[Unsigned8, ro]
Used for mailbox read transfers (Slave to Master).
Default = 02
03 SM PDO output (SM2)
[Unsigned8, ro]
It contains the RxPDOs (i.e. Sync Manager 2 holds the Read Process Data).
Default = 03
04 SM PDO input (SM3)
[Unsigned8, ro]
It contains the TxPDOs (i.e. Sync Manager 3 holds the Write Process Data).
Default = 04
1C12-00 RxPDO assign
[Unsigned8, ro]
This object specifies whether the device uses Receive PDO messages. This device
does not support Receive PDO messages.
Default = 0
1C13-01 TxPDO assign
[Unsigned8, ro]
This object specifies whether the device uses Transmit PDO messages. Sub-Index
00 specifies the number of entries, i.e. the number of assigned TxPDOs.
01 SubIndex 001
[Unsigned32, ro]
This device uses TxPDO messages to send the position value.
Default = 0000 1A00h =
object
1C33 SM input parameter
1C33 SM input parameter
object contains the input synchronization
parameters. Some of them are calculated dynamically and depend on both the
encoder configuration (programmed resolution, counting direction, …) and the
selected synchronization mode (SM or DC). Sub-Index 00 contains the number
of entries.
01 Sync Type
[Unsigned16, rw]
It allows to select the synchronization mode. For more information refer to page
53.
0: FreeRun; see on page 53;
1: Synchronous with SM3 Event; see on page 54;
2: DC mode synchronous with SYNC0 event; see on page 54.
MAN SFA_5000_10000_EC E 1.0.odt
6 - EtherCAT® interface
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