SMC Networks LECSN-T Series User Manual

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18．EtherCAT COMMUNICATION
(3) Synchronous mode (DC mode)
In the synchronous mode, it is necessary to keep the synchronous jitter 2 μs or less. When the
synchronous jitter is 2 μs or more, an error may be detected and an alarm may set off.
Synchronous mode setting
Sync0
Sync1
Cycle time
(1C32h: 2)
0.25 ms (When the PDO communication cycle is set to 0.25 ms)
0.5 ms (When the PDO communication cycle is set to 0.5 ms)
1 ms (When the PDO communication cycle is set to 1 ms)
2 ms (When the PDO communication cycle is set to 2 ms)
Unused
Shift time
(1C32h: 3)
0
(4) Asynchronous mode (Free-run mode)
In the asynchronous mode, when using the cyclic synchronous position mode, the cyclic synchronous
speed mode, and the cyclic synchronous torque mode, set as shown in the following table. Input the
command value for each communication cycle set in Cycle time (1C32h: 2). If the command is not
inputted on each communication cycle, the previously input command will be maintained.
Local Cycle time
Cycle time
(1C32h: 2)
(Note)
0.25 ms (When the PDO communication cycle is set to 0.25 ms)
0.5 ms (When the PDO communication cycle is set to 0.5 ms)
1 ms (When the PDO communication cycle is set to 1 ms)
2 ms (When the PDO communication cycle is set to 2 ms)
Note.
If the value is not set for Cycle time, the PDO communication cycle is 0.25 ms
(initial value).
(5) Compliance with standards
_ drivers comply with the following standards. Refer to the following standards for the description not
written in this Instruction Manual.
Standards
Version
ETG.1000.2 EtherCAT Specification – Part2
Physical Layer service definition and protocol specification
V1.0.3
ETG.1000.3 EtherCAT Specification – Part3
Data Link Layer service definition
V1.0.3
ETG.1000.4 EtherCAT Specification – Part4
Data Link Layer protocol specification
V1.0.3
ETG.1000.5 EtherCAT Specification – Part5
Application Layer service definition
V1.0.3
ETG.1000.6 EtherCAT Specification – Part6
Application Layer protocol specification
V1.0.3
ETG.1020 EtherCAT Protocol Enhancements
V1.1.0
ETG.1300 EtherCAT Indicator and Labeling Specification
V1.1.0
ETG.2000 EtherCAT Slave Information (ESI) Specification
V1.0.7
ETG.6010 Implementation Directive for CiA 402 Drive Profile
V1.1.0
IEC 61800-7-201 Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
Edition 1.0
Adjustable speed electrical power drive systems –
Part 7-301: Generic interface and use of profiles for power drive systems –
Mapping of profile type 1 to network technologies
Edition 1.0

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English