1C00 - 1C33 | Device - System Manager

Index 1C00 Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Using the Sync Managers

UINT8

RO

0x04 (4dec)

1C00:01

SubIndex 001

Sync Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1dec)

1C00:02

SubIndex 002

Sync Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2dec)

1C00:03

SubIndex 003

Sync Manager Type Channel 3: Process Data Write (Outputs)

UINT8

RO

0x03 (3dec)

1C00:04

SubIndex 004

Sync Manager Type Channel 4: Process Data Read (Inputs)

UINT8

RO

0x04 (4dec)

Index 1C12 RxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x04 (4dec)

1C12:01

Subindex 001

1st assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1600 (5632dec)

1C12:02

Subindex 002

2nd assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1601 (5633dec)

1C12:03

Subindex 003

3rd assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1602 (5634dec)

1C12:04

Subindex 004

4th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1603 (5635dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x06 (6dec)

1C13:01

Subindex 001

1st assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A00 (6656dec)

1C13:02

Subindex 002

2nd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A01 (6657dec)

1C13:03

Subindex 003

3rd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A02 (6658dec)

1C13:04

Subindex 004

4th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A03 (6659dec)

1C13:05

Subindex 005

5th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A80 (6784dec)

1C13:06

Subindex 006

6th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A81 (6785dec)

Index 1C32 SM output parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

0x20 (32dec)

1C32:01

Sync mode

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

UINT16

RW

0x0000 (0dec)

1C32:02

Cycle time

Cycle time (in ns):

  • Free Run: cycle time of the local timer
  • Synchronous with SM 2 event: cycle time of the master
  • DC Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x0007A120 (500000dec)

1C32:03

Shift time

Time between SYNC0 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C32:04

Sync modes supported

Supported synchronization modes:

  • Bit 0 = 1: Free Run is supported
  • Bit 1 = 1: Synchronization with SM 2 event is supported
  • Bit 2-3 = 01: DC-Mode is supported
  • Bit4 -5 = 10: Output Shift with SYNC1 event (DC mode only)
  • Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08)

UINT16

RO

0x0805 (2053dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0007A120 (500000dec)

1C32:06

Calc and copy time

Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C32:07

Minimum delay time

Minimum time between SYNC1 event and output of the outputs (in ns)

UINT32

RO

0x00000000 (0dec)

1C32:08

Get cycle time

  • 0: Measurement of the local cycle time is stopped
  • 1: Measurement of the local cycle time is started

The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RO

0x0000 (0dec)

1C32:09

Maximum delay time

Time between SYNC1 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C32:0B

SM event missed counter

Number of missed SM events in OPERATIONAL (DC mode only)

UINT16

RO

0x0000 (0dec)

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 (0dec)

1C32:0D

Shift too short counter

Number of times that the interval between SYNC0 and SYNC1 event was too short (DC mode only)

UINT16

RO

0x0000 (0dec)

1C32:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC Mode only)

BOOLEAN

RO

0x00 (0dec)

Index 1C33 SM input parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

0x20 (32dec)

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 (0dec)

1C33:02

Cycle time

Cycle time (in ns):

  • Free Run: cycle time of the local timer
  • Synchronous with SM 2 event: cycle time of the master
  • DC Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x0007A120 (500000dec)

1C33:03

Shift time

Time between SYNC0 event and reading of the inputs (in ns, DC Mode only)

UINT32

RO

0x00000000 (0dec)

1C33:04

Sync modes supported

Supported synchronization modes:

  • Bit 0: Free Run is supported
  • Bit 1: Synchronization with SM 2 event is supported (outputs available)
  • Bit 1: Synchronization 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 or 0x1C33:08)

UINT16

RO

0x0005 (5dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0007A120 (500000dec)

1C33:06

Calc and copy time

Time between reading of the inputs and the inputs being available for the master (in ns, DC mode only)

UINT32

RO

0x0007A120 (500000dec)

1C33:07

Minimum delay time

Min. time between SYNC1 event and reading of the inputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C33:08

Get cycle Time

This entry allows to measure the real required process data provision time.

  • 0: Measurement of the local cycle time is stopped
  • 1: Measurement of the local cycle time is started

The entries 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset 

UINT16

RO

0x0000 (0dec)

1C33:09

Maximum delay time

Time between SYNC1 event and reading of the inputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

Number of missed SM events in OPERATIONAL (DC mode only)

UINT16

RO

0x0000 (0dec)

1C33:0C

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 (0dec)

1C33:0D

Shift too short counter

Number of times that the interval between SYNC0 and SYNC1 event was too short (DC mode only)

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC Mode only)

BOOLEAN

RO

0x00 (0dec)