18．EtherCAT COMMUNICATION
Set Sync Manager 3 (TxPDO). The description of each Sub Index is as follows.
The number of entries is returned.
Set the synchronous mode.
0000h: Free Run
0001h: Synchronous (Not supported) (Note 2)
0002h: DC Sync0
0003h: DC Sync1 (Not supported) (Note 2)
The value can be changed in the Pre Operational state.
If the value of 1C32h: 1 is changed, the same value as that of 1C32h: 1 is automatically
set to this sub index.
Set the TxPDO communication cycle.
250000: 0.25 ms
500000: 0.5 ms
1000000: 1 ms
2000000: 2 ms
The PDO communication cycle can be changed by changing the value in the Pre
Operational state.
Communication cycles other than the above cannot be set.
If the value of 1C32h: 2 is changed, the same value as that of 1C32h: 2 is automatically
set to this sub index.
The delay time from SYNC0 to input is returned.
Unit: [ns]
Synchronization Types
supported
The supported synchronous type is returned.
Bit 0: Free Run supported
Bit 1: Synchronous supported (Not supported) (Note 2)
Bit 4 to Bit 2: DC Type supported
000 = No DC (Not supported) (Note 2)
001 = DC Sync0
010 = DC Sync1 (Not supported) (Note 2)
100 = Subordinated Application with fixed Sync0 (Not supported) (Note 2)
Bit 6 to Bit 5: Shift settings
00 = No Output Shift supported (Not supported) (Note 2)
01 = Output Shift with local time
10 = Output Shift with Sync1 (Not supported) (Note 2)
Bit 9 to Bit 7: Reserved
Bit 10: Delay Time should be measured (Not supported) (Note 2)
Bit 11: Delay Time is fix. (Not supported) (Note 2)
Bit 13 to Bit 11: Reserved
Bit 14: Dynamic Cycle Times (Not supported) (Note 2)
Bit 15: Reserved
The minimum communication cycle is returned.
Unit: [ns]
The minimum value of the delay time from input to sending is returned. The value varies
according to the communication cycle setting.
Unit: [ns]
This is not supported by the driver.
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