BECKHOFF ET9300 - Manual (Page 59)

Application Note ET9300 57
9.1.1 FreeRun
In this mode there is no slave application synchronisation (see Figure 16: Free Run). The function
“PDO_OutputMapping()” is called only if new output process data is available.
Main Loop Start Main Loop Start
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)
Start Input Latch
Figure 16: Free Run
Free Run synchronization parameter:
0x1C32.1 = 0
0x1C33.1 = 0
9.1.2 SyncManager
In this mode the slave application is executed SyncManager synchronous (Figure 17: SyncManager
Synchronization). On every write event to the output process data SyncManager (SM2) the slave
application is started. If the device supports only inputs, then the application is started on reading the
input process data (SM3).
SM2/3 Event SM2/3 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)
Min Cycle Time (0x1C32.5/0x1C33.5)
Cycle Time (0x1C32.2/0x1C33.2)
Start Input Latch
Figure 17: SyncManager Synchronization
SyncManager synchronization parameter:
0x1C32.1 = 0x1
0x1C33.1 = 0x22