Omron GRT1-ECT SmartSlice, Руководство по эксплуатации

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A4 Appendix Object Dictionary
A4 - 8 GRT1-series EtherCAT Communication Unit - Operation Manual
The communication memory of EtherCAT is set by the objects from 1C00 hex to 1C13 hex.
• The sync manager has the following settings.
• SM0 : Mailbox receive (EtherCAT Master Unit to Slave)
• SM1 : Mailbox transmit (EtherCAT Slave to Master Unit)
• SM2 : Process data output (EtherCAT Master Unit to Slave)
• SM3 : Process data input (EtherCAT Slave to Master Unit)
• It indicates the number of PDO mappings used by this sync manager.
• Mailbox reception sync manager does not have PDOs.
• It indicates the number of PDO mappings used by this sync manager.
• Mailbox transmit sync manager does not have PDOs.
A4-1-6 Sync Manager Communication Object
1C00 hex Sync manager communication type
Sub-index 0: Number of used sync manager channels
Range:
−
Unit:
−
Default: 04 hex Attribute:
−
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Communication type SM0
Range:
−
Unit:
−
Default: 01 hex Attribute:
−
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 2: Communication type SM1
Range:
−
Unit:
−
Default: 02 hex Attribute:
−
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 3: Communication type SM2
Range: -
Unit: - Default: 03 hex Attribute:
−
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 4: Communication type SM3
Range: -
Unit: - Default: 04 hex Attribute:
−
Size: 4 bytes (U8) Access: RO PDO map: Not possible
1C10 hex Sync manager 0 PDO assignment
Sub-index 0: Number of assigned PDOs
Range: 00 hex
Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
1C11 hex Sync manager 1 PDO assignment
Sub-index 0: Number of assigned PDOs
Range: 00 hex
Unit:
−
Default: 00 hex Attribute:
−
Size: 1 byte (U8) Access: RO PDO map: Not possible