Beckhoff EL6751, Документация

Страница: 141 / 210

Parameterization and commissioning
EL6751 141 Version: 3.5
Index 1C33 SM input parameter
Index (hex) Name Meaning Data type Flags Default
1C33:0 SM input parameter Synchronisation parameters for the inputs UINT8 RO 0x20 (32
dec
)
1C33:01 Sync mode Current synchronisation mode:
• 1: Synchron with SM 3 Event (no outputs
available)
• 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 [
}
140]
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 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 14 = 1: dynamic times (measurement through
writing of 0x1C32:08 [ } 140] or 0x1C33:08 [ } 141] )
UINT16 RO 0x4006
(16390
dec
)
1C33:05 Minimum cycle time
as 0x1C32:05 [
}
140]
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 [ } 140]
UINT16 RW 0x0000 (0
dec
)
1C33:09 Delay time not supported UINT32 RO 0x00000000
(0
dec
)
1C33:0B SM event missed
counter
as 0x1C32:11 [ } 140]
UINT16 RO 0x0000 (0
dec
)
1C33:0C Cycle exceeded
counter
as 0x1C32:12 [ } 140]
UINT16 RO 0x0000 (0
dec
)
1C33:0D Shift too short counter as
0x1C32:13 [ } 140]
UINT16 RO 0x0000 (0
dec
)
1C33:20 Sync error
as 0x1C32:32 [ } 140]
BOOLEAN RO 0x00 (0
dec
)
5.5.1.3.2 Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Index 6000-67E0 CAN TxPDOs Node yyy
Index (hex) Name Meaning Data type Flags Default
6000+n*16:
0 CAN TxPDOs Node
yyy This object contains the CAN TxPDOs 1-255 of the (n
+1)
th
configured CANopen slave. The corresponding
SubIndex is only present if the corresponding CAN Tx-
PDO was also configured in object
n*16 [ } 145] .
The object is mapped in the TxPDO (n+1) (index 0x1A00
[ } 135] +n).
UINT8 RO
(6000+n*16)
:01 Data of CAN TxPDO 1 of the (n+1)
th
configured
CANopen slave
OCTET-
STRING RO
...
(6000+n*16)
:FF Data of CAN TxPDO 255 of the (n+1)
th
configured
CANopen slave
OCTET-
STRING RO