90 Communication protocol
Sync managers
Sync managers control the access to the application memory.
Each channel defines a consistent area of the application memory.
The adapter module has four sync manager channels. Their
functions are described below.
Sync manager channel 0
Sync manager 0 is used for mailbox write transfers (mailbox from
master to slave).
Sync manager channel 1
Sync manager 1 is used for mailbox read transfers (mailbox from
slave to master).
Sync manager channel 2
Sync manager 2 is used for process output data. It contains the Rx
PDOs specified by the PDO assignment object 0x1C12.
Sync manager channel 3
Sync manager 3 is used for process input data. It contains the Tx
PDOs specified by the PDO assignment object 0x1C13.
Sync manager watchdog
The sync manager watchdog (process data watchdog) monitors
the output sync managers. If the output I/O data is not updated by
the master within the configured time, the watchdog will activate
time-out and reduce the state of the adapter module from
Operational to Safe-operational. The action in this case is specified
by object 0x6007 Abort connection option code. The resolution of
this watchdog is 1 ms.
Note: EtherCAT has been designed so that it provides no way for a
slave to monitor the connection to the master if the slave has no
output data.
Note: The drive reaction to a communication fault must be
configured separately. See the drive manual for more information.
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