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Communication-Specific Standard Objects (CiA DS-301)
Sub-Index
Description
Data type
Category
Access
PDO mapping
Value
Sub-Index
Description
Data type
Category
Access
PDO mapping
Value
Sub-Index
Description
Data type
Category
Access
PDO mapping
Value
Sub-Index
Description
Data type
Category
Access
PDO mapping
Value
Sub-Index
Description
Data type
Category
Access
PDO mapping
Value
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Page 108 of 143
2
Cycle Time
UNSIGNED32
Optional
ro
No
Min. time between two SM3 events in ns.
3
Shift Time
UNSIGNED32
Mandatory
ro
No
Time between SM3 event and the hardware input latch in ns
4
Synchronization types supported
UNSIGNED16
Mandatory
ro
No
Bit 0: Free Run supported
Bit 1: Synchronous supported
Bit 2: Distributed clocks supported
5
Minimum Cycle Time
UNSIGNED32
Mandatory
ro
No
Min. cycle time which is support by the Slave in ns
(Max. period of the local cycle).
6
Calc and Copy Time
UNSIGNED32
Mandatory
ro
No
Time in ns needed by the application controller to perform
calculations on the input values if necessary and to copy the
process data from the local memory to the Sync Manager
before the data is available for EtherCAT.
TR - ECE - BA - DGB - 0127 - 04
Printed in the Federal Republic of Germany
06/20/2017
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