BECKHOFF ET9300 - Manual (Page 61)

Application Note ET9300 59
9.1.5 Sync0
In this mode the slave application is started on Sync0 (see Figure 20: Sync0 Synchronization). To
reduce the jitter delay between Sync0 and Outputs valid, the preferred synchronization is
SyncManager/Sync0 (see chapter 9.1.3).
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)
Sync0 Sync0
Frame Frame
Start Input Latch
Figure 20: Sync0 Synchronization
Sync0 synchronization parameter:
Sync Activation Register (0x981): Bit0, Bit1 = 1
0x1C32.1 = 2
0x1C33.1 = 2
AL_EVENT_ENABLED = 0 (if 1 see 9.1.3)
9.1.6 Sync0/Sync1
The output process data mapping and the ECAT_Application is started on Sync0 and the input latch is
started with Sync1 (Figure 21: Sync0/Sync1 Synchronization).
NOTE: The input latch shall be added to APPL_InputMapping(); by default it is done in
APPL_Application().
Outputs valid Inputs latch
ECAT_Application() PDO_OutputMapping() PDO_InputMapping()
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
Frame Frame
Figure 21: Sync0/Sync1 Synchronization
Sync0/Sync1 synchronization parameter:
Sync Activation Register (0x981): Bit0, Bit1, Bit2 = 1
0x1C32.1 = 2
0x1C33.1 = 3
AL_EVENT_ENABLED = 0 (if 1 see 9.1.4)
9.1.7 Subordinated Cycles
In this mode the output process data mapping is triggered on the SM 2 event, the ECAT_Application is
started on Sync1 and each subordinated cycle is triggered with Sync0 (Figure 22: Subordinated