Baumer BMxx, GBxxx-GXxxx - EtherCAT / PoE from version&nbsp,5.0 - Manual (Page 12)

Baumer_EtherCAT_PoE_5-00_MA_EN.docx 12/30 www.baumer.com
30.09.14
Object 0x1A00 TxPDO1 Mapping
SubIndex 0
Data type Unsigned 8
Access ReadOnly
Default
EEPROM No
Significance Maximum supported subindex
Values 3
SubIndex
1
Data type Unsigned 32
Access ReadOnly
Default
EEPROM No
Significance Position value
Values 0x6004
SubIndex 2
Data type Unsigned 16
Access ReadOnly
Default
EEPROM No
Significance Warnings
Values 0x6505
SubIndex 3
Data type Unsigned 32
Access ReadOnly
Default 0x2000 System time
EEPROM Yes
Significance System time, Speed value
Values 0x2000 = System time, 0x6030 = Speed value
Object 0x1C33 SM (Sync Manager) Input Parameter SM3
Sub
Index Data Type Access Description Measurand Values
0 Unsigned 8 ReadOnly SM Input Parameter - Maximum supported Subindex 32
1 Unsigned 16 ReadOnly Sync Mode - 0x00 Free Run (not synchronized)
0x03 DC SYNC1, synchronized with
SYNC1 Event
2 Unsigned 32 ReadOnly Cycle time Nanoseconds ns SYNC0/SYNC1 cycle time
3 Unsigned 32 ReadOnly Shift time Nanoseconds ns Shift time from SYNC1 until input data
latch (absolute position)
4 Unsigned 16 ReadOnly Sync modes
supported - 0x0009
Free run supported
Synchronous supported
DC SYNC1
Dynamic Cycle times
5 Unsigned 32 ReadOnly Minimum cycle time Nanoseconds ns Minimum cycle time supported
6 Unsigned 32 ReadOnly Calc and copy time Nanoseconds ns Calculation and copy time of process data
out of local memory into SyncManager