SFA-5000 • SFA-10000 EtherCAT
Default = 1
02 Cycle time
[Unsigned32, ro]
This parameter depends on the
selected. Application cycle time,
i.e. interval between two position samplings (internal timer). The value is
expressed in nanoseconds (ns).
If 0 = “FreeRun”: interval between two position samplings (internal timer).
If 1 = “Synchronous with SM3”: minimum interval between two SM3 events.
If 2 = “DC mode synchronous with with SYNC0 event”: 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 and expressed in
nanoseconds (ns).
04 Sync modes supported
[Unsigned16, ro]
It shows the list of the supported synchronization modes.
bit 0: FreeRun (supported)
bit 1: Synchronous with SM3 (supported)
bit 2: Synchronous with DC SYNC0 (supported)
Default = 7
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. It
is expressed in nanoseconds (ns).
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. It is expressed in nanoseconds (ns).
NOTE
Always save the new values after setting in order to store them in the non-
volatile memory permanently. Use the
on page 63.
Should the power supply be turned off all data that has not been saved
previously will be lost!
MAN SFA_5000_10000_EC E 1.0.odt
6 - EtherCAT® interface
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