Omron R88M-K - Page 597

A-47
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-10 Sync Manager Communication Objects
• The Synchronization Type indicates the synchronization mode of Sync Manager 2.
0002 hex: DC mode 0
• The Cycle Time indicates the sync 0 event cycle in nanoseconds.
• The Synchronization Types supported indicates the types of synchronization supported.
0004 hex: DC mode 0
• The Sync Error is 1 when there is a synchronization error.
1C32 hex
Sync Manager 2 Synchronization
Sub-index 00 hex Number of Synchronization Parameters
Range − Unit − Default 20 hex Attribute −
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex Synchronization Type
Range − Unit − Default 0002 hex Attribute A
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 02 hex Cycle Time
Range − Unit − Default 0000 0000 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 04 hex Synchronization Types supported
Range − Unit − Default 0004 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 05 hex Minimum Cycle Time
Range − Unit − Default 0000 4268 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 06 hex Calc and Copy Time
Range − Unit − Default 0007 A120 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 09 hex Delay Time
Range − Unit − Default 0000 0000 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 20 hex Sync Error
Range − Unit − Default 0 Attribute −
Size 1 bit (BOOL) Access RO PDO map Not possible
All