6-31
6-7 Object Dictionary
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6
Drive Profile
 The Synchronization type indicates the synchronization mode of Sync Manager 2.
0002 hex: DC mode 0
 The Cycle time indicates the sync 0 event cycle in nanoseconds.
 The Synchronization types supported indicates the types of synchronization supported.
0004 hex: DC mode 0
 The Sync error is 1 when there is a synchronization error.
1C32 hex
SM2 synchronization
Sub-index 0 Number of synchronization parameters
Range − Unit − Default 20 hex Attribute −
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 1 Synchronization type
Range − Unit − Default 0002 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 2 Cycle time
Range − Unit ns Default 0000 0000 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 4 Synchronization types supported
Range − Unit − Default 0004 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 5 Minimum cycle time
Range − Unit ns Default 0003 2C8 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 6 Calc and copy time
Range − Unit ns Default 0007 A120 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 9 Delay time
Range − Unit ns Default 0000 0000 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 32 Sync error
Range − Unit − Default 0 Attribute −
Size 1 bit (BOOL) Access RO PDO map Not possible
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