BECKHOFF ET9300 - Manual (Page 60)

58 Application Note ET9300
9.1.3 SyncManager/Sync0
This mode is recommended for most applications when the Sync0-event is used for synchronization.
The output process data mapping is triggered by the SM2 event and the ECAT_Application to set the
output values and start the input latch is started on Sync0 (see Figure 18: SM/Sync0 Synchronization).
With monitoring the SM2-event (before the Sync0-event occurs), the application ensures that there are
new target values available for each local cycle. If the SM2-event is too late to complete the
CalcAndCopy before the Sync0-Event occurs,
the “SmEventMissed-Counter” is incremented and if the
SmEventMissedLimit is exceeded the slave goes to SafeOpErr.
SM2 Event SM2 Event
Outputs valid Inputs latch
PDO_OutputMapping()
PDO_InputMapping() ECAT_Application()
Calc and Copy
Time
(0x1C32.6)
Delay Time
(0x1C32.9)
Calc and Copy
Time
(0x1C33.6)
Delay Time
(0x1C33.9)
Cycle Time (0x1C32.2/0x1C33.2)
Sync0 Sync0
Start Input Latch
Figure 18: SM/Sync0 Synchronization
SyncManager/Sync0 synchronization parameter:
Sync Activation Register (0x981): Bit0, Bit1 = 1
0x1C32.1 = 2
0x1C33.1 = 2
AL_EVENT_ENABLED = 1 (if 0 see 9.1.5)
9.1.4 SyncManager/Sync0/Sync1
In this mode the output process data mapping is triggered by the SM2 event, the ECAT_Application is
started on Sync0 and the input latch is started with Sync1 (see Figure 19: SM/Sync0/Sync1
Synchronization).
NOTE: The input latch shall be added to APPL_InputMapping(); by default it is done in
APPL_Application()
SM2 Event SM2 Event
Outputs valid Inputs latch
PDO_OutputMapping() PDO_InputMapping() ECAT_Application()
Calc and Copy
Time
(0x1C32.6)
Delay Time
(0x1C32.9)
Calc and Copy
Time
(0x1C33.6)
Delay Time
(0x1C33.9)
Cycle Time (0x1C32.2/0x1C33.2)
Sync0 Sync0 Sync1
Figure 19: SM/Sync0/Sync1 Synchronization
SyncManager/Sync0/Sync1 synchronization parameter:
Sync Activation Register (0x981): Bit0, Bit1, Bit2 = 1
0x1C32.1 = 2
0x1C33.1 = 3
AL_EVENT_ENABLED = 1 (if 0 see 9.1.6)