Beckhoff EtherCAT EL6001, Documentation

Page: 159 / 204

Overview of CoE objects EL6001, EL6021
EL600x, EL602x 159 Version: 4.6
Index
(hex) Name Meaning Data type Flags Default
1C32:06 Calc and copy time Minimum time between SYNC0 and SYNC1 event (in
ns, DC mode only) 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 1C32:03, 1C32:05, 1C32:06, 1C32:09 [
}
158] ,
1C33:03, 1C33:06, 1C33:09 [
}
159] are updated with the
maximum measured values.
For a subsequent measurement the measured values
are reset
UINT16 RW 0x0000 (0
dec
)
1C32:09 Delay time Time between SYNC1 event and output of the outputs
(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
)
Index 0x1C33 SM input parameter [from hardware version 03]
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: Synchronous with SM 3 event (no outputs
available)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchronous with SM 2 event (outputs
available)
UINT16 RW 0x0022 (34
dec
)
1C33:02 Cycle time
as 1C32:02 [ } 158]
UINT32 RW 0x0007A120
(500000
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 supported 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 1C32:08 [ } 158] or 1C33:08
[ } 159] )
UINT16 RO 0xC007
(49159
dec
)
1C33:05 Minimum cycle time
as 1C32:05 [
}
158]
UINT32 RO 0x00004E20
(20000
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 1C32:08 [ } 158]
UINT16 RW 0x0000 (0
dec
)