Beckhoff EM7004, Documentation

Page: 107 / 130

Object description and parameterization
EM7004 107 Version: 2.0
Index 1C33 SM input parameter
Index (hex) Name Meaning Data type Flags Default
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: Synchron with SM 3 Event (no outputs
available)
• 2: DC - Synchronous with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs available)
UINT16 RW 0x0022 (34
dec
)
1C33:02 Cycle time
as 0x1C32:02 [
}
106]
UINT32 RW 0x00000000
(0
dec
)
1C33:03 Shift time Time between SYNC0 event and reading of the inputs (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: Synchron with SM 2 Event is supported
(outputs available)
• Bit 1: Synchron 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 [ } 106] or 0x1C33:08 [ } 107] )
UINT16 RO 0xC007
(49159
dec
)
1C33:05 Minimum cycle time
as 0x1C32:05 [
}
106]
UINT32 RO 0x00000000
(0
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 [ } 106]
UINT16 RW 0x0000 (0
dec
)
1C33:09 Delay time Time between SYNC1 event and reading of the inputs (in
ns, only DC mode) UINT32 RO 0x00000000
(0
dec
)
1C33:0B SM event missed
counter
as 0x1C32:11 [ } 106]
UINT16 RO 0x0000 (0
dec
)
1C33:0C Cycle exceeded
counter
as 0x1C32:12 [ } 106]
UINT16 RO 0x0000 (0
dec
)
1C33:0D Shift too short counter as
0x1C32:13 [
}
106]
UINT16 RO 0x0000 (0
dec
)
1C33:20 Sync error
as 0x1C32:32 [ } 106]
BOOLEAN RO 0x00 (0
dec
)
5.4 Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.