Beckhoff EL6751, Документация

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Parameterization and commissioning
EL6751 153 Version: 3.5
Index F120 Diagnostic Data
Index (hex) Name Meaning Data type Flags Default
F120:0 Diagnostic Data This object contains additional measured times for the
CAN cycle that are not contained in the Sync Manager
parameter objects
0x1C32 [ } 140] / 0x1C33 [ } 141]
UINT8 RO
F120:01 Cycle Time current cycle time of the CAN cycle (equivalent to
0xF101:14) in 1/9 µs UINT32 RO
F120:03 Maximum Cycle Time maximum cycle time of the CAN cycle (in 1/9 µs) UINT32 RO
F120:04 Bus Load CAN bus load in % UINT16 RO
F120:05 16-bit gap
F120:09 Sync RxPDOs fin-
ished Time (T3) current time after the start of the CAN cycle at which all
synchronous RxPDOs were sent (in 1/9 µs) UINT32 RO
F120:0B Sync RxPDOs fin-
ished Maximum Time
(max T3) maximum time after the start of the CAN cycle when all
synchronous RxPDOs have been sent (in 1/9 µs) UINT32 RO
F120:0C Preparing of PDOs
finished Time (T2) current time after the start of the CAN cycle at which the
sending of the synchronous RxPDOs begins UINT32 RO
F120:0E Preparing of PDOs
finished Maximum
Time (max T2) maximum time after the start of the CAN cycle at which
the sending of the synchronous RxPDOs begins UINT32 RO
F120:0F Output Calc and Copy
Time (T1) current time after the start of the CAN cycle at which the
SYNC message can be sent UINT32 RO
F120:11 Ouput Calc and Copy
Maximum Time (max
T1) maximum time after the start of the CAN cycle at which
the SYNC message can be sent UINT32 RO
F120:12 Input Calc and Copy
Time (T5) current time still required after the input shift time
(
0x1C33 [
}
141] :03) until the EtherCAT input data have
been completely written
UINT32 RO
F120:14 Input Calc and Copy
Maximum Time (max
T5) maximum time still required after the input shift time
(
0x1C33 [
}
141] :03) until the EtherCAT input data have
been completely written
UINT32 RO
F120:15 Output Failed Counter Number of cycles in which the EtherCAT output data
were not adopted
UINT16 RO
F120:16 Input Failed Counter Number of cycles in which the EtherCAT input data were
not collected UINT16 RO
F120:17 Send sync RxPDO
Failed Counter Number of CAN cycles that were omitted because the
previous CAN cycle was not ended in time UINT16 RO
F120:18 RX Error Counter
Rx error counter (cumulative errors from 0xF108
[
}
152] :21)
UINT16 RO
F120:19 TX Error Counter
Tx error counter (cumulative errors from 0xF108
[ } 152] :22)
UINT16 RO
F120:1A reserved for extensions 16-bit gap RO
Index F200 Control
Index (hex) Name Meaning Data type Flags Default
F200:0 Control The object contains the control data that are mapped in
RxPDO 134 (index
0x1685 [ } 134] )
UINT8 RO
F200:01 CAN Controller Auto
Reset when BUS-
OFF In the case of a CAN bus-off, this allows the EL6751 to
be switched again to bus-on via the process data. BOOLEAN RO