YASKAWA VIPA IM 053EC Manual

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YASKAWA VIPA IM 053EC Manual Manual pdf 51 page image

To use the synchronization mode Synchron with distributed clocks (DC), in your configu-ration tool you have to select the synchronization mode Synchron with DC-Sync0. Moremay be found in the manual of your configuration tool.With this mode of synchronization, after receiving the EtherCAT frame, the process inputor output data is read or written in sync with the DC sync event. The DC sync event is aninterrupt which is triggered simultaneously on all DC capable slaves on the bus.1 EtherCAT frame2 DC sync event (DC Sync0)3 Jitter, depends on the master implementationIn order to achieve isochronous mode, the synchronization mode Syn-chronous with distributed clocks (DC) does not perform any hardwareretries on the backplane bus with process data telegrams. If errors aredetected when reading or writing the process data on the backplane bus,the slave does not switch to PreOp. A module failure is detected by theNodeMonitoring.With the synchronization mode Synchron with distributed clocks (DC), noSystem SLIO CP 040 may exist on the backplane bus.4.4 Accessing the System SLIO4.4.1 GeneralCalculation formula of the max. required cycle time in μs so that the coupler safelyswitches to the state Operational (Op):Max. required cycle time (in μs) = (1.83 * number of modules) + (0.33 * S of input andoutput bytes) + 60In the following you will find the description of accessing the following System SLIO areasvia EtherCAT:n I/O area in the master systemn I/O arean Parameter datan Module informationn Diagnostics dataInformation concerning the allocation of these areas may be found in the description ofthe corresponding System SLIO module.4.4.2 Accessing the I/O area in the master systemThe EtherCAT slave has a variable process data mapping. The process data areassigned to individual PDO mapping objects from the object dictionary, which can be acti-vated or deactivated as required. The following PDO mapping objects are available:Synchron with distributedclocks (DC)OverviewVIPA System SLIO DeploymentAccessing the System SLIO > Accessing the I/O area in the master systemHB300 | IM | 053-1EC01 | en | 18-49 51