SMC Networks LECSN-T Series - Page 593

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18．EtherCAT COMMUNICATION
(3) Sync Manager TxPDO assign (1C13h)
Index
Sub
Name
Data Type
Access
PDO Mapping
1C13h
0
Sync Manager TxPDO assign
UNSIGNED8
rw
Impossible
1
Assigned PDO 001
UNSIGNED16
2
Assigned PDO 002
3
Assigned PDO 003
4
Assigned PDO 004
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
1C13h
0
1
00h to 04h
Impossible
1
1A00h
1A00h to 1A03h
2
3
4
Set the mapping table to be assigned to Sync Manager 3 (TxPDO). Select an object from Transmit PDO
Mapping (1A00h) to Transmit PDO Mapping (1A03h).
(4) SM output parameter (1C32h)
Index
Sub
Name
Data Type
Access
PDO Mapping
1C32h
0
SM output parameter
UNSIGNED8
ro
Impossible
1
Synchronization Type
UNSIGNED16
rw
2
Cycle Time
UNSIGNED32
3
Shift Time
rw (Note)
4
Synchronization Types supported
UNSIGNED16
ro
5
Minimum Cycle Time
UNSIGNED32
6
Calc and Copy Time
9
Delay Time
12
Cycle Time Too Small
UNSIGNED16
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
1C32h
0
12
0Ch (12)
Impossible
1
0
0000h or 0002h
2
250000
0003D090h (250000)
0007A120h (500000)
000F4240h (1000000)
001E8480h (2000000)
ns
3
222222
222222
4
0025h
0025h (35)
5
250000
0003D090h (250000)
ns
6
222722
00000000h to FFFFFFFFh
9
0
00000000h
12
0
0000h
Note.
No value can be written because Shift time (1C32: 3) is set automatically. Writing any value causes SDO Abort Code (0609
0030h Value range of parameter exceeded).