Infranor XtrapulsGem User Manual

29
X
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
r
V
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

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English