trapulsPac - User Guide
Chapter 3 – Reference
3.1.1.4 - Synchronisation Object
The SYNC object is a broadcast message sent by the master. This message provides a network clock. The
period is specified by the communication cycle period (object 0x1006). The Xtrapuls servo-drives use this SYNC
message to synchronize their local clock.
At least 180 ms are necessary for the servo-drive to start the synchronisation.
COB-ID Sync Message
Index 0x1005
Name COB-ID Sync Message
Object Code VAR
Data Type Unsigned32
Object Class all
Access rw
PDO Mapping No
Default Value 0x00000080
This object defines the COB-ID of the synchronisation object (SYNC).
The Xtrapuls drive does not support 29-bit ID.
Bit numbe
alue Meaning
31 (MSB) No Bootup message
30 0
1
Device does not generate SYNC message
Device generates SYNC message
29 0 11-bit ID (CAN 2.0 A)
28-11 0
10-0 (LSB) x bits 10-0 of SYNC COB-ID
Execution
of RPDO3
Communication cycle
SYNC
message
TPDO3
actual feedback
RPDO3
demand value
Asynchronous PDO
SYNC
message
Synchronous Window Length
Actuate on object
mapped in TPDO3