Beckhoff EL6692 Documentation page 134

Commissioning
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0 RxPDO assign
1C12:01 SubIndex 001
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0 TxPDO assign
1C13:01 SubIndex 001
1C13:02 SubIndex 002
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
1C32:08 Command
1C32:09 Delay time
1C32:0B SM event missed
counter
1C32:0C Cycle exceeded
counter
1C32:0D Shift too short counter Number of occasions that the interval between SYNC0
1C32:20 Sync error
134
Meaning
PDO Assign Outputs
1. allocated RxPDO (contains the index of the associated
RxPDO mapping object)
Meaning
PDO Assign Inputs
1. allocated TxPDO (contains the index of the associated
TxPDO mapping object)
2. allocated TxPDO (contains the index of the associated
TxPDO mapping object)
Meaning
Current synchronization mode:
• 0: Free Run
• 1: Synchronous with SM 2 event
• 2: DC-Mode - Synchronous with SYNC0 Event
• 3: DC-Mode - Synchronous with SYNC1 event
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
Time between SYNC0 event and output of the outputs (in
ns, DC mode only)
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 0x1C32:08 [} 134])
Minimum cycle time (in ns)
Minimum time between SYNC0 and SYNC1 event (in ns,
DC mode only)
• 0: Measurement of the local cycle time is stopped
• 1: Measurement of the local cycle time is started
The entries 0x1C32:03 [} 134], 0x1C32:05 [} 134],
0x1C32:06 [} 134], 0x1C32:09 [} 134], 0x1C33:03 [} 135],
0x1C33:06 [} 134], 0x1C33:09 [} 135] are updated with
the maximum measured values.
For a subsequent measurement the measured values
are reset
Time between SYNC1 event and output of the outputs (in
ns, DC mode only)
Number of missed SM events in OPERATIONAL (DC
mode only)
Number of occasions the cycle time was exceeded in
OPERATIONAL (cycle was not completed in time or the
next cycle began too early)
and SYNC1 event was too short (DC mode only)
The synchronization was not correct in the last cycle
(outputs were output too late; DC mode only)
Version: 3.2
Data type Flags Default
UINT8 RW 0x00 (0
UINT16 RW 0x0000 (0
Data type Flags Default
UINT8 RW 0x01 (1
UINT16 RW 0x1A01
(6657
UINT16 RW 0x0000 (0
Data type Flags Default
UINT8 RO 0x20 (32
UINT16 RW 0x0000 (0
UINT32 RW 0x00000000
(0 )
dec
UINT32 RW 0x00000000
(0 )
dec
UINT16 RO 0xC007
(49159
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
BOOLEAN RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EL6692