Omron CJ1W- ECT21

A - 21
Appendices
CJ-series EtherCAT Slave Units Operation Manual (W541)
A-4 CoE Objects
A
A-4-6 Sync Manager Communication Objects
• This object provides the specifications of the EtherCAT communications mode for Sync Manager 2.
• Subindex 01 hex provides the EtherCAT communications mode for Sync Manager 2 of the EtherCAT
Slave Unit.
0000 hex: Free-Run Mode
• Subindex 02 hex provides the cycle time. In Free-Run Mode, the time between two local timer events
is provided.
• Subindex 04 hex provides the type of synchronization that is supported by the EtherCAT Slave Unit.
• Subindex 05 hex provides the minimum cycle time that is supported by the EtherCAT Slave Unit.
• This object provides the specifications of the EtherCAT communications mode for Sync Manager 3.
• Subindex 01 hex provides the EtherCAT communications mode for Sync Manager 3 of the EtherCAT
Slave Unit.
0000 hex: Free-Run Mode
• Subindex 02 hex provides the cycle time. In Free-Run Mode, the time between two local timer events
is provided.
• Subindex 04 hex provides the type of synchronization that is supported by the EtherCAT Slave Unit.
• Subindex 05 hex provides the minimum cycle time that is supported by the EtherCAT Slave Unit.
Index
(hex)
Subin-
dex
(hex)
Object name Default Data range Unit
Data
attri-
bute
Size Access
PDO
mapping
Complete
access
1C32 --- Sync Manager 2
Synchronization
--- --- --- -- --- --- --- Possible
00 Number of Syn-
chronization
Parameters
20 hex 20 hex --- --- 1 byte
(U8)
RO Not possi-
ble
---
01 Synchronization
Type
0000 hex 0000 hex --- --- 2 byte
(U16)
RW Not possi-
ble
---
02 Cycle Time 00000000
hex
00000000 hex ns --- 4 byte
(U32)
RO Not possi-
ble
---
04 Synchronization
Types supported
0001 hex 0001 hex --- --- 2 byte
(U16)
RO Not possi-
ble
---
05 Minimum Cycle
Time
00000000
hex
00000000 hex ns --- 4 byte
(U32)
RO Not possi-
ble
---
Index
(hex)
Subin-
dex
(hex)
Object name Default Data range Unit
Data
attri-
bute
Size Access
PDO
mapping
Complete
access
1C33 --- Sync Manager 3
Synchronization
--- --- --- -- --- --- --- Possible
00 Number of Syn-
chronization
Parameters
20 hex 20 hex --- --- 1 byte
(U8)
RO Not possi-
ble
---
01 Synchronization
Type
0000 hex 0000 hex --- --- 2 byte
(U16)
RW Not possi-
ble
---
02 Cycle Time 00000000
hex
00000000 hex ns --- 4 byte
(U32)
RO Not possi-
ble
---
04 Synchronization
Types supported
0001 hex 0001 hex --- --- 2 byte
(U16)
RO Not possi-
ble
---
05 Minimum Cycle
Time
00000000
hex
00000000 hex ns --- 4 byte
(U32)
RO Not possi-
ble
---