SM模式的同步源选择有两种：
*1）同步于Output数据帧的SM2同步
*2）同步于Input数据帧的SM3同步（仅输入型的从站支持，如果有输出Output数据的话必须是同步与SM2）
SM同步模式的输入锁存(Input Latch)有两种:
#1)- 常规的输出生效，输入锁存
图SM同步-形式1
#2) - 常规的输出生效，输入想要Shift到更靠近SM Event来获得更新的数据
两种同步源和两种InputLatch形式 可以组合成4种的SM同步
#1)- 常规的输出生效，输入锁存的同步参数配置要求：
0X1C32的配置
| Subindex | Description | Flag | Use | Description/default value |
|---|---|---|---|---|
| 1 | Synchronization Type | r or rw | required | 0x01: Synchronous - synchronized with SM 2 event |
| 2 | Cycle Time | r or rw | optional | Communication cycle time |
| 3 | Shift Time | -- | -- | |
| 4 | Synchronization Types supported | r | required | Bit 1: Synchronous SM supported |
| 5 | Minimum Cycle Time | r | required | |
| 6 | Calc and Copy Time | -- | -- | |
| 7 | -- | -- | -- | |
| 8 | Get Cycle Time | rw | conditional**** | |
| 9 | Delay Time | -- | -- | |
| 10 | SYNC0 Cycle Time | -- | -- | |
| 11 | Cycle Time Too Small | r | required | |
| 12 | SM-Event Missed | r | optional | |
| 13 | Shift Time Too Short | -- | -- | |
| 14 | RxPDO Toggle Failed | r | optional | |
| 31:15 | -- | -- | -- | |
| 32 | Sync Error | r | conditional | Supported if "SM Event Missed" Counter is used |
0X1C33的配置
| Subindex | Description | Flag | Use | Description/default value |
|---|---|---|---|---|
| 1 | Synchronization Type | r or rw | required | 0x01: Synchronous - synchronized with SM 3 event (for transfer of inputs in SAFE-OP and OP status) 0x22: Synchronous - synchronized with SM 2 event (for transfer of outputs in SAFE-OP and OP status) |
| 2 | Cycle Time | r or rw | optional | same value as 0x1C32:02 |
| 3 | Shift Time | -- | -- | |
| 4 | Synchronization Types supported | r | required | same value as 0x1C32:04 |
| 5 | Minimum Cycle Time | r | required | same value as 0x1C32:05 |
| 6 | Calc and Copy Time | -- | -- | |
| 7 | -- | -- | -- | |
| 8 | Get Cycle Time | rw | conditional**** | same value as 0x1C32:08 |
| 9 | Delay Time | -- | -- | |
| 10 | SYNC0 Cycle Time | -- | -- | |
| 11 | Cycle Time Too Small | r | required | same value as 0x1C32:0B |
| 12 | SM-Event missed | r | optional | same value as 0x1C32:0C |
| 13 | Shift Time Too Short | -- | -- | |
| 14 | RxPDO Toggle Failed | r | optional | same value as 0x1C32:0E |
| 31:15 | -- | -- | -- | |
| 32 | Sync Error | r | conditional | same value as 0x1C32:20 |
#2) - 常规的输出生效，输入想要Shift到更靠近SM Event来获得更新的数据的同步参数配置要求：
0X1C32的配置
| Subindex | Description | Flag | Use | Description/default value |
|---|---|---|---|---|
| 1 | Synchronization Type | r or rw | required | 0x01: Synchronous - synchronized with SM 2/3 event |
| 2 | Cycle Time | r or rw | optional | Communication cycle time |
| 3 | Shift Time | -- | -- | |
| 4 | Synchronization Types supported | r | required | Bit 1: Synchronous SM supported |
| 5 | Minimum Cycle Time | r | required | |
| 6 | Calc and Copy Time | -- | -- | |
| 7 | -- | -- | -- | |
| 8 | Get Cycle Time | rw | conditional**** | |
| 9 | Delay Time | -- | -- | |
| 10 | SYNC0 Cycle Time | -- | -- | |
| 11 | Cycle Time Too Small | r | required | |
| 12 | SM-Event missed | r | optional | |
| 13 | Shift Time Too Short | -- | -- | |
| 14 | RxPDO Toggle Failed | r | optional | |
| 31:15 | -- | -- | -- | |
| 32 | Sync Error | r | conditional | Supported if SM Event Missed Counter is used |
0X1C33的配置
| Subindex | Description | Flag | Use | Description/default value |
|---|---|---|---|---|
| 1 | Synchronization Type | r or rw | required | 0x01: Synchronous - synchronized with SM 3 event (only if inputs are available) 0x22: Synchronous with SM2 event (if outputs are available) |
| 2 | Cycle Time | r or rw | optional | same value as 0x1C32:02 |
| 3 | Shift Time | rw | required | |
| 4 | Synchronization Types supported | r | required | same value as 0x1C32:04 |
| 5 | Minimum Cycle Time | r | required | same value as 0x1C32:05 |
| 6 | Calc and Copy Time | r | required | |
| 7 | -- | -- | -- | |
| 8 | Get Cycle Time | rw | conditional**** | same value as 0x1C32:08 |
| 9 | Delay Time | -- | -- | |
| 10 | SYNC0 Cycle Time | -- | -- | |
| 11 | Cycle Time Too Small | r | required | same value as 0x1C32:0B |
| 12 | SM-Event missed | r | optional | same value as 0x1C32:0C |
| 13 | Shift Time Too Short | -- | -- | |
| 14 | RxPDO Toggle Failed | r | optional | same value as 0x1C32:0E |
| 31:15 | -- | -- | -- | |
| 32 | Sync Error | r | conditional | same value as 0x1C32:20 |
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