Beckhoff EL6731 Documentation page 150

EtherCAT communication EL6731-00x0
Index 1C32 SM output parameter
Index (hex) Name
1C32:0 SM output parameter Synchronization parameters for the outputs
1C32:01 Sync mode
1C32:02 Cycle time
1C32:03 Shift time
1C32:04 Sync modes sup-
ported
1C32:05 Minimum cycle time
1C32:06 Calc and copy time
1C32:07 Minimum delay time
1C32:08 Command
1C32:09 Delay time
150
Meaning
Current synchronization mode:
• 0: Free run
• 1: synchronous with SM 2 event (SM
synchronous)
• 2: DC-Mode - Synchronous with SYNC1 event
(DC-SYNC0-synchronous)
• 3: DC-Mode - Synchronous with SYNC1 event
(DC-SYNC1-synchronous)
Cycle time (in ns):
• Free Run: Cycle time of the local timer
• Synchronous with SM 2 event: Master cycle time
• DC mode: SYNC0 cycle time (normally also the
cycle time of the master)
DC mode only (as for 0x1C32:09 [} 150])
Supported synchronization modes:
• Bit 0 = 1: free run is supported
• Bit 1 = 1: Synchron 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 [} 150])
This entry contains the measured cycle time (in ns) of the
DP cycle, including the update of the EtherCAT process
data; the maximum measured value (sum of
0x1C32:06+0x1C33:09+0x1C33:06) is located here. If
the CycleExceeded counter (0x1C32:0C or 0x1C33:0C)
increments, then the cycle time set in 0x1C32:02 is too
low for the configured DP bus structure.
This entry contains the measured time after the first
event (SM2 (SM-synchronous or DC SYNC0-synchro-
nous) or SYNC0 (DC SYNC1-synchronous)) until the
start of the DP cycle (SM-synchronous) or after which the
second event (SYNC0 (DC SYNC0-synchronous) or
SYNC1 (DC SYNC1-synchronous)) may occur at the ear-
liest. When setting DC SYNC0-synchronous, this time
may also to be considered for the SYNC shift time for the
EtherCAT master outputs. When setting DC SYNC1-syn-
chronous, this time may also to be considered for the
SYNC1 shift time of the EL6731. If the ShiftTooShort
counter (0x1C32:0D) increments, then the corresponding
shift time is set too low.
• 0: Measurement of the local cycle time is stopped
• 1: Measurement of the local cycle time is started
The entries 0x1C32:03 [} 150], 0x1C32:05 [} 150],
0x1C32:06 [} 150], 0x1C32:09 [} 150], 0x1C33:03 [} 152],
0x1C33:06 [} 150], 0x1C33:09 [} 152] are updated with
the maximum measured values.
For a subsequent measurement the measured values
are reset
This entry contains the time after the second event
(SYNC0 event (DC SYNC0-synchronous) or SYNC1
event (DC SYNC1 synchronous)) and the time and out-
put of the outputs (in ns, DC mode only)
Version: 2.8
Data type Flags Default
UINT8 RO 0x20 (32
UINT16 RW 0x0001 (1
UINT32 RW 0x000F4240
(1000000
UINT32 RO 0x00000000
(0 )
dec
UINT16 RO 0x440B
(17419
UINT32 RO 0x0003CFB1
(249777
UINT32 RO 0x00000000
(0 )
dec
UINT32 RO 0x00000000
(0 )
dec
UINT16 RW 0x0000 (0
UINT32 RO 0x00000000
(0 )
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EL6731