Beckhoff EtherCAT EL6021 User Manual

Overview CoE objects EL6002, EL6022
EL600x, EL602x 181Version: 4.6
Index 0x1C33 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: Synchronous with SM 3 event (no outputs
available)
• 2: DC - Synchronous with SYNC0 Event
• 3: DC - Synchronous with SYNC1 Event
• 34: Synchronous with SM 2 event (outputs
available)
UINT16 RW 0x0000 (0
dec
)
1C33:02 Cycle time as 1C32:02 UINT32 RW 0x0003D090
(250000
dec
)
1C33:03 Shift time Time between SYNC0 event and reading of the in-
puts (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 or 1C33:08)
UINT16 RO 0xC007 (49159
dec
)
1C33:05 Minimum cycle time as 1C32:05 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 UINT16 RW 0x0000 (0
dec
)
1C33:09 Delay time Time between SYNC1 event and reading of the in-
puts (in ns, only DC mode)
UINT32 RO 0x00000000 (0
dec
)
1C33:0B SM event missed counter as 1C32:11 UINT16 RO 0x0000 (0
dec
)
1C33:0C Cycle exceeded counter as 1C32:12 UINT16 RO 0x0000 (0
dec
)
1C33:0D Shift too short counter as 1C32:13 UINT16 RO 0x0000 (0
dec
)
1C33:20 Sync error as 1C32:32 BOOLEAN RO 0x00 (0
dec
)
7.1.3 Profile-specific objects (0x6000-0xFFFF) [from hardware
version 03]
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

Beckhoff EtherCAT EL6021 Specifications

General

Brand	Beckhoff
Model	EtherCAT EL6021
Category	I/O Systems
Language	English