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Appendix | EtherCAT Documentation
optoNCDT 1900 / EtherCAT
- Delay time: The delay time is the hardware-related delay until the input latch is reached.
- The delay time from 0x1C33 is only calculated if the Distributed Clocks are activated. The value is recalculated each time it is read.
Since the sensor does not have output data, the Delay time from 0x1C32 always returns 0.
- Cycle Time Too Small Counter: This counter is incremented if the cycle time is too low, so that the input data could not be provided
for the next SM event.
- Sync Error
0: No errors.
1: An synchronization error occurred. The Cycle Time Too Small Counter has been incremented.
The set synchronization depends on the combination of 0x1C33:001 and 0x1C32:001. The synchronization changes during a transi-
tion from the PreOP state to the SafeOP state. If the combination is invalid, an error message is displayed when the state is changed.
Process data communication will then not be possible.
0x1C32 Synchronization Type
0x1C33 Synchronization Type
Synchronization
0x00
0x00
Free run
0x01
0x22
SM2
0xyy
0x01
SM3
0x02
0x02
Sync0
Fig. 37 Example synchronisation
An activation of the Distributed Clocks does not automatically change the Sync0 mode. The synchronization can only be changed by
writing the objects 0x1C32 and 0x1C33.
Summary of Contents for ILD1900-10
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