Beckhoff EL6652-00 0 Series, Documentation

Page: 124 / 147

Configuration with the Twincat System Manager
EL6652-00x0 124 Version: 2.5
Index 1C33 SM input parameter
Index
(hex) Name Meaning Format Flags Default value
1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32
dec
)
1C33:01 Sync mode Current synchronization mode:
• 0: Free Run
• 1: Synchronous with SM 3 event (no outputs
available)
• 2: DC - Synchronous with SYNC0 Event
• 3: DC - Synchronous with SYNC1 Event
• 34: Synchronous with SM 2 event (outputs
available)
UINT16 RW 0x0000 (0
dec
)
1C33:02 Cycle time
as 0x1C32:02 [
}
123]
UINT32 RW 0x000186A0
(100000
dec
)
1C33:03 Shift time Time between SYNC0 event and reading of the in-
puts (in ns, only DC mode) UINT32 RO 0x00000000 (0
dec
)
1C33:04 Sync modes sup-
ported Supported synchronization modes:
• Bit 0: free run is supported
• Bit 1: synchronous with SM 2 event is
supported (outputs available)
• Bit 1: synchronous with SM 3 event is
supported (no outputs available)
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 01: input shift through local event
(outputs available)
• Bit 4-5 = 10: input shift with SYNC1 event
(no outputs available)
• Bit 14 = 1: dynamic times (measurement
through writing of 0x1C32:08 [ } 123] or
0x1C33:08 [ } 124] )
UINT16 RO 0xC007 (49159
dec
)
1C33:05 Minimum cycle time
as 0x1C32:05 [
}
123]
UINT32 RO 0x000186A0
(100000
dec
)
1C33:06 Calc and copy time Time between reading of the inputs and availability
of the inputs for the master (in ns, only DC mode) UINT32 RO 0x00000000 (0
dec
)
1C33:08 Command
as 0x1C32:08 [ } 123]
UINT16 RW 0x0000 (0
dec
)
1C33:09 Delay time Time between SYNC1 event and reading of the in-
puts (in ns, only DC mode) UINT32 RO 0x00000000 (0
dec
)
1C33:0B SM event missed
counter
as 0x1C32:11 [ } 123]
UINT16 RO 0x0000 (0
dec
)
1C33:0C Cycle exceeded
counter
as 0x1C32:12 [ } 123]
UINT16 RO 0x0000 (0
dec
)
1C33:0D Shift too short
counter
as 0x1C32:13 [
}
123]
UINT16 RO 0x0000 (0
dec
)
1C33:20 Sync error
as 0x1C32:32 [
}
123]
BOOLEAN RO 0x00 (0
dec
)
Profile-specific objects
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Index F000 Modular device profile
Index
(hex) Name Meaning Format Flags Default value
F000:0 Modular device pro-
file General information for the modular device profile UINT8 RO 0x02 (2
dec
)
F000:01 Module index dis-
tance Index spacing of the objects of the individual chan-
nels UINT16 RO 0x0010 (16
dec
)
F000:02 Maximum number of
modules Number of channels UINT16 RO 0x0005 (5
dec
)