Beckhoff EL6731 Documentation page 152

EtherCAT communication EL6731-00x0
Index 1C33 SM input parameter
Index (hex) Name
1C33:0 SM input parameter
1C33:01 Sync mode
1C33:02 Cycle time
1C33:03 Shift time
1C33:04 Sync modes sup-
ported
1C33:05 Minimum cycle time
1C33:06 Calc and copy time
1C33:07 Minimum delay time
1C33:08 Command
1C33:09 Maximum delay time
1C33:0B SM event missed
counter
1C33:0C Cycle exceeded
counter
1C33:0D Shift too short counter as 0x1C32:13 [} 150]
1C32:0F Minimum Cycle Dis-
tance
1C32:10 Maximum Cycle Dis-
tance
1C32:11 Minimum SM SYNC
Distance
1C32:12 Maximum SM SYNC
Distance
1C32:13 Application Cycle Ex-
ceeded Counter
1C32:14 Frame repeat time
1C33:20 Sync error
152
Meaning
Synchronization parameters for the inputs
Current synchronization mode:
• 0: Free Run
• 1: Synchron with SM 3 Event (no outputs
available)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs available)
as 0x1C32:02 [} 150]
Time between SYNC0 event and reading of the inputs (in
ns, only DC mode)
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 0x1C32:08 [} 150] or 0x1C33:08 [} 152])
as 0x1C32:05 [} 150]
Time between reading of the inputs and availability of the
inputs for the master (in ns, only DC mode)
as 0x1C32:08 [} 150]
Time between SYNC1 event and reading of the inputs (in
ns, only DC mode)
as 0x1C32:11 [} 150]
as 0x1C32:12 [} 150]
as 0x1C32:32 [} 150]
Version: 2.8
Data type Flags Default
UINT8 RO 0x20 (32
UINT16 RW 0x0022 (34
UINT32 RW 0x000F4240
(1000000
UINT32 RW 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
UINT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
UINT32 RO 0x00000000
(0 )
dec
UINT32 RO 0x00000000
(0 )
dec
UINT32 RO 0x00000000
(0 )
dec
UINT32 RO 0x00000000
(0 )
dec
UINT16 RO 0x0000 (0
UINT32 RW 0x00000000
(0 )
dec
BOOLEAN RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EL6731