Baumer ATD - Manual (Page 15)

EtherCAT 15/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
Encoders devices does not support dynamic object dictionary. Some of the values under this object are de-
pendent of the encoder operation mode (Sync or DC) and also dependent of the resolution. This means tim-
ing data is only true for:
1. Scaling Function Control disabled SFC=0
2. Distributed Clock mode operation
Sub
Index Description Value
01 Synchronization Type:
0: Free Run (not synchronized)
1: Sync – synchronized with SM3 Event
2: DC Sync0 – synchronized with Sync0 Event 0x0000
3
02 Cycle Time :
Free Run (Synchronization Type = 0) time between two local timer events
in ns.
Sync with SM2 (Synchronization Type = 1) Minimum time between two
SM2 events in ns.
DC Sync0 (Synchronization Type = 2) Sync0 Cycle Time (Register 0x9A0-
0x9A3) in ns. 0x0000 0000
4
03 Shift Time:
Time between related event and the associated action (inputs latched from
hardware) in ns. TBD
04 Synchronization Types supported:
Bit 0: Free Run supported
Bit 1: Sync supported
Bit 2: DC Sync0 supported
Bit 5:4 No input shift supported 0x0007
05 Minimum cycle time supported of the slave (maximum duration time of the
local cycle) in ns. 0x**** **** 5
06 Calc and Copy Time 0x**** ****
Table 14 Sync Manager 3 Parameter List
2.4.1.7 Object 0x6000 Operating parameters
This object indicates the function for code sequence control.
Code sequence: The code sequence defines, whether increasing or decreasing position values are output, in
case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the shaft.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
- - - - - - - - - - - - - 1 - cs
Table 15 Operating parameters
cs = Code Sequence
0 : CW
1 : CCW
sfc = Scaling Function Control
0 : disabled
1 : enabled
3 The value 0x0000 is the default value (Free Run mode)
4
Cycle Time data is only supported for DC mode.
5
Please check Chapter 6DC Timing.