Omron R88D-1SN04H-ECT - Page 823

A - 37
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
A
A-2-6 Sync Manager Communication Objects
• Subindex 02 hex Cycle Time gives the cycle in nanoseconds.
• Subindex 03 hex Shift Time sets the delay time from Sync0 to signal output. It is unsupported by the
1S-series Servo Drive.
• Subindex 04 hex Synchronization Types supported gives the types of synchronization supported
by this Servo Drive.
• Subindex 05 hex Minimum Cycle Time gives the time required for this Servo Drive to process the
reception or transmission PDO.
• Subindex 06 hex Calc and Copy Time gives the internal processing time from data reception to sig-
nal output.
• Subindex 09 hex Delay Time gives the hardware-related delay time from signal output to actual out-
put via the terminal.
• Subindex 0B hex Cycle Time Too Small gives the number of times which input data could not be
updated because the internal processing was not completed before the next SM event.
• This object gives the parameters for synchronization of Sync Manager 3.
• Subindex 01 hex Synchronization Type gives the synchronization mode of Sync Manager 3.
Value Description
0000 hex Free Run
0001 hex Synchronous
0002 hex DC Sync0
0003 hex DC Sync1
Bit Description
1 Synchronous Supported
2 to 4 DC Type Supported DC (1: Sync0)
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
1C33 --- Sync Manager
3 Synchroniza-
tion
--- --- --- --- --- --- --- Possible ---
00 Number of
Synchroniza-
tion Parame-
ters
--- --- 0C hex --- 1 byte
(U8)
RO --- --- ---
01 Synchroniza-
tion Type
0000 to
0003 hex
--- 0000 hex A 2 bytes
(U16)
W --- --- ---
02 Cycle Time --- ns 00000000
hex
--- 4 bytes
(U32)
RO --- --- ---
03 Shift Time 0 to
FFFFFFFF
hex
ns 0 A 4 bytes
(U32)
W --- --- ---
04 Synchroniza-
tion Types sup-
ported
--- --- 0026 hex --- 2 bytes
(U16)
RO --- --- ---
05 Minimum
Cycle Time
--- ns 125,000 --- 4 bytes
(U32)
RO --- --- ---
06 Calc and Copy
Time
--- ns 125,000 --- 4 bytes
(U32)
RO --- --- ---
09 Delay Time --- ns 31,250 --- 4 bytes
(U32)
RO --- --- ---
0B Cycle Time Too
Small
--- --- --- --- 4 bytes
(U32)
RO --- --- ---