Beckhoff ELX3351, Operating Manual

Page: 65 / 71

Parameterization and programming
ELX3351 65 Version: 1.3.1
Index 1C13 TxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x03 (3
dec
)
1C13:01 Subindex 001 1. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object) UINT16 RW 0x1A00 (6656
dec
)
1C13:02 Subindex 002 2. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object) UINT16 RW 0x1A01 (6657
dec
)
1C13:03 Subindex 003 3. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object) UINT16 RW -
Index 1C32 SM output parameter
Index (hex) Name Meaning Data type Flags Default
1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 RO 0x20 (32
dec
)
1C32:01 Sync mode Current synchronization mode:
• 0: Free Run
• 1: Synchron with SM 2 Event
• 2: DC-Mode - Synchron with SYNC0 Event
• 3: DC-Mode - Synchron with SYNC1 Event
UINT16 RW 0x0000 (0
dec
)
1C32:02 Cycle time Cycle time (in ns):
• Free Run: Cycle time of the local timer
• Synchronous with SM 2 event: Master cycle
time
• DC mode: SYNC0/SYNC1 Cycle Time
UINT32 RW 0x001E8480
(2000000
dec
)
1C32:03 Shift time Time between SYNC0 event and output of the out-
puts (in ns, DC mode only) UINT32 RO 0x00000000 (0
dec
)
1C32:04 Sync modes sup-
ported Supported synchronization modes:
• Bit 0 = 1: free run is supported
• Bit 1 = 1: Synchronous with SM 2 event is
supported
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 10: Output shift with SYNC1 event
(only DC mode)
• Bit 14 = 1: dynamic times (measurement
through writing of 0x1C32:08)
UINT16 RO 0x0001 (1
dec
)
1C32:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x000186A0
(100000
dec
)
1C32:06 Calc and copy time Minimum time between SYNC0 and SYNC1 event (in
ns, DC mode only) UINT32 RO 0x00000000 (0
dec
)
1C32:07 Minimum delay time UINT32 RO 0x00000000 (0
dec
)
1C32:08 Command • 0: Measurement of the local cycle time is
stopped
• 1: Measurement of the local cycle time is
started
The entries 0x1C32:03, 0x1C32:05, 0x1C32:06,
0x1C32:09,
0x1C33:03, 0x1C33:06, 0x1C33:09 [ } 65]
are updated with the maximum measured values.
For a subsequent measurement the measured val-
ues are reset
UINT16 RW 0x0000 (0
dec
)
1C32:09 Maximum Delay time Time between SYNC1 event and output of the out-
puts (in ns, DC mode only) UINT32 RO 0x00000000 (0
dec
)
1C32:0B SM event missed
counter Number of missed SM events in OPERATIONAL (DC
mode only) UINT16 RO 0x0000 (0
dec
)
1C32:0C Cycle exceeded
counter Number of occasions the cycle time was exceeded in
OPERATIONAL (cycle was not completed in time or
the next cycle began too early) UINT16 RO 0x0000 (0
dec
)
1C32:0D Shift too short counter Number of occasions that the interval between
SYNC0 and SYNC1 event was too short (DC mode
only)
UINT16 RO 0x0000 (0
dec
)
1C32:20 Sync error The synchronization was not correct in the last cycle
(outputs were output too late; DC mode only) BOOLEAN RO 0x00 (0
dec
)