ICP DAS USA ECAT-2011H, User Manual

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ECAT-2011H EtherCAT Slave I/O module
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Index 1C32 TxPDO Assignment
Index Name Meaning Data type Flags Default
1C32:00
SM output
parameter
Synchronization parameters for the outputs
UINT8 RO 0x20(32dec)
1C32:01
Synchronization
type
Current synchronization type:
Bit0 = 0: Free Run
Bit1 = 1:Synchron with SM 2 Event
Bit15 = 0: Standard
Bit15 = 1: FastOp mode (CoE deactivated)
UINT16 RW
0x0000(0dec)
1C32:02 Cycle
Cycle time (in ns):
Free Run: Cycle time of the local timer
Synchronous with SM 2 event: Master cycle
time UINT32 RO 0x00000000
(0dec)
1C32:04 Synchronization
type supported
Supported synchronization modes:
Bit0 = free run is supported
Bit1= synchronous with SM 2 event is
supported (outputs available)
Bit1= synchronous with SM 3 event is
supported (no outputs available)
Bit4-5= 01: input shift with SYNC 1 event
(no outpus available)
Bit14= 1: dynamic times
UINT16 RO 0x401F
(16415dec)
1C32:05 Minimum cycle time Minimum cycle time (in ns)
UINT32 RO 0x000186A0
(100000dec)
1C32:06 Calc and copy time Time between reading of the inputs and
availability of the inputs for the master
UINT32 RO 0x000061A8
(2500dec)
1C32:08 Get cycle time
With this entry the real required process data
provision time can be measured.
0: Measurement of the local cycle time is
stopped
1: Measurement of the local cycle time is
statred UINT16 RW 0x0001(1dec)
1C32:09 Delay time
Time between SYNC1 event and reading of
the inputs UINT32 RO 0x000009C4
(2500dec)
1C32:0A Sync0 cycle time
SYNC0 cycle time (in ns) UINT32 RW 0x00000000
(0dec)
1C32:0B SM-event missed
Number of missed SM events in
OPERATIONAL UINT16 RO 0x0000(0dec)
1C32: 0C Sync Error
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(0dec)