Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Communication 6.2.3
0x1C00 Sync manager type
Index 0x1C00 Object type ARRAY Name Sync manager type
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT8 - Number of Entries
0x01 NO rw UINT8 - SubIndex001
0x02 NO rw UINT8 - SubIndex002
0x03 NO rw UINT8 - SubIndex003
0x04 NO rw UINT8 - SubIndex004
0x1C12 PDO Assignment of SM2
Index 0x1C12 Object type ARRAY Name PDO Assignment of SM2
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT8 - Number of Entries
0x01 NO rw UINT16 - SubIndex001
0x02 NO rw UINT16 - SubIndex002
0x03 NO rw UINT16 - SubIndex003
0x04 NO rw UINT16 - SubIndex004
0x1C13 PDO Assignment of SM3
Index 0x1C13 Object type ARRAY Name PDO Assignment of SM3
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT8 - Number of Entries
0x01 NO rw UINT16 - SubIndex001
0x02 NO rw UINT16 - SubIndex002
0x03 NO rw UINT16 - SubIndex003
0x04 NO rw UINT16 - SubIndex004
0x1C32 Output Sync Manager Parameter
Index 0x1C32 Object type RECORD Name Output Sync Manager Parameter
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT8 - Number of Entries
0x01 NO r UINT16 -
Synchronization Type
0x00: Free Run (not synchronized)
0x01: Synchronized with SM Event
0x02: DC Sync0-synchronized with Sync0 Event
0x03: DC Sync1-synchronized with Sync1 Event
0x02 NO r UINT32 ns
Cycle Time
Sync0 Cycle Time, see Figure 7.2-1
0x03 NO r UINT32 ns
Shift Time,
Time between Sync0 event and the Outputs valid.
0x04 NO r UINT16 ns
Sync Modes Supported
Bit0: Free Run Supported
Bit1: Synchronous Supported
Bit2~4:DC Type Supported
000=No DC 001=DC Sync0 010=DC
Sync1
Bit6~5: Shift Settings
00=No Output Shift Supported
01=Output Shift with Local Timer
10=Output Shift wit
0x05 NO r UINT32 -
Minimum Cycle Time
Minimum cycle time supported by the slave, used
in DC mode or Synchronous Mode
See Figure 7.2-1
0x06 NO r UINT32 ns
Calc and Copy Time
Time needed by the application controller to copy
the process data from the Sync Manager to the
local memory and perform calculations before the
data is sent to the process. Used in DC mode. See
Figure 7.2-1
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