Beckhoff EtherCAT EL6022 User Manual

Overview CoE objects EL6002, EL6022
EL600x, EL602x180 Version: 4.6
Index 0x1C32 SM output parameter
Index
(hex)
Name Meaning Data type Flags Default
1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 RO 0x20 (32
dec
)
1C32:01 Sync mode Current synchronization mode:
• 0: Free Run
• 1: Synchron with SM 2 Event
• 2: DC-Mode - Synchron with SYNC0 Event
• 3: DC-Mode - Synchron with SYNC1 Event
UINT16 RW 0x0000 (0
dec
)
1C32:02 Cycle time Cycle time (in ns):
• Free Run: Cycle time of the local timer
• Synchronous with SM 2 event: Master cycle
time
• DC-Mode: SYNC0/SYNC1 Cycle Time
UINT32 RW 0x0003D090
(250000
dec
)
1C32:03 Shift time Time between SYNC0 event and output of the outputs
(in ns, DC mode only)
UINT32 RO 0x00000000 (0
dec
)
1C32:04 Sync modes supported Supported synchronization modes:
• Bit 0 = 1: free run is supported
• Bit 1 = 1: Synchronous with SM 2 event is
supported
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 10: Output shift with SYNC1 event
(only DC mode)
• Bit 14 = 1: dynamic times (measurement
through writing of 1C32:08)
UINT16 RO 0xC007 (49159
dec
)
1C32:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x00004E20
(20000
dec
)
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,
1C33:03, 1C33:06, and 1C33:09 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
)

Beckhoff EtherCAT EL6022 Specifications

General

Brand	Beckhoff
Model	EtherCAT EL6022
Category	I/O Systems
Language	English