Standard objects (0x1000-0x1FFF)

1000:0

Device type

Device type of the EtherCAT slave: The Lo-Word contains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.

UINT32

RO

0x0C1C1389 (203166601_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL6731

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

06

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

10

1011:0

Restore default parameters

Restore default parameters

UINT8

RO

0x01 (1_dec)

1011:01

SubIndex 001

If this object is set to "0x64616F6C" in the set value dialog, all backup objects are reset to their delivery state.

UINT32

RW

0x00000000 (0_dec)

1018:0

Identity

Information for identifying the slave

UINT8

RO

0x04 (4_dec)

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

0x00000002 (2_dec)

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

0x1A4B3052 (441135186_dec)

1018:03

Revision

Revision number of the EtherCAT slave; the low word (bit 0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description

UINT32

RO

0x00000000 (0_dec)

1018:04

Serial number

Serial number of the EtherCAT slave; the low byte (bit 0-7) of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of production, the high word (bit 16-31) is 0

UINT32

RO

0x00000000 (0_dec)

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

0x01 (1_dec)

10F0:01

Checksum

Checksum of the Backup Parameter Storage (object 0x10F2, word 2-3)

UINT32

RO

0x00000000 (0_dec)

10F2:0

Backup parameter storage

If this object is used, no StartUp SDOs may be transmitted in the PREOP state, since the Backup Parameter Storage contains the complete StartUp SDOs (see Configuration of the EL6731 with Backup Parameter Storage). The EL6731 is rebooted 5s after the flashing of the Backup Parameter Storage (switches to INIT with AL status code = 0x60). The data have the following meaning:

OCTET-STRING[n]

RW

Word-Offset

Description

0

Command: with 0xC0DE, the received data are stored in the flash memory

1

Length of the data from word offset 4 in bytes

2-3

Checksum, which is calculated locally

4

Index of the object of the 1^st StartUp SDO

5

len1: Length of the object of the 1^st StartUp SDO as CompleteAccess (from SubIndex 0) in bytes

6-n1

Data of the object of the 1^st StartUp SDO as CompleteAccess (n1 = 2*((len1+1)/2)+5)

n1+1

Index of the object of the 2^nd StartUp SDO

n1+2

len2: Length of the object of the 2^nd StartUp SDO as CompleteAccess (from SubIndex 0) in bytes

(n1+3)-n2

Data of the object of the 2^nd StartUp SDO as CompleteAccess (n2 = 2*((len2+1)/2)+n1+2)

...

m

Index of the object of the 3^rd StartUp SDO

m+1

len3: Length of the object of the 3^rd StartUp SDO as CompleteAccess (from SubIndex 0) in bytes

(m+2)-n3

Data of the object of the 3^rd StartUp SDO as CompleteAccess (n3 = 2*((len3+1)/2)+m+1)

10F3:0

Diagnosis History

Maximum subindex

UINT8

RO

0x45 (69_dec)

10F3:01

Maximum Messages

Maximum number of stored messages
A maximum of 50 messages can be stored

UINT8

RO

0x00 (0_dec)

10F3:02

Newest Message

Subindex of the latest message

UINT8

RO

0x00 (0_dec)

10F3:03

Newest Acknowledged Message

Subindex of the last confirmed message

UINT8

RW

0x00 (0_dec)

10F3:04

New Messages Available

Indicates that a new message is available

BOOLEAN

RO

0x00 (0_dec)

10F3:05

Flags

not used

UINT16

RW

0x0000 (0_dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET-STRING[20]

RO

{0}

...

...

...

...

...

...

10F3:45

Diagnosis Message 064

Message 64

OCTET-STRING[20]

RO

{0}

10F8:0

Actual Time Stamp

Time stamp

UINT64

RO

1600+n:0

RxPDO-Map DP-Slave yyy

There is an RxPDO containing the DP output data of the DP slave for each configured DP slave. There is an entry in the RxPDO mapping object 0x1600+n for each DP module with DP output data configured in object 0x8002+(n*16). If a DP slave does not contain any DP output data, then the PDO mapping object 0x1600+n does not exist. These PDOs are mandatory and must always be contained in the PDO Assign object 0x1C12, depending on the configured DP slaves. SubIndex 0 contains the number of DP modules with DP output data of the (n+1)^th configured DP slave.

UINT8

RO

(1600+n):01

first DP module with DP output data of the (n+1)^th configured DP slave

UINT32

RO

...

..

(1600+n):FF

last DP module with DP output data of the (n+1)^th configured DP slave

UINT32

RO

167F:0

DPM RxPDO-Map Control

PDO Mapping RxPDO 128

UINT8

RO

0x02 (2_dec)

167F:01

SubIndex 001

1^st PDO Mapping entry (object 0xF200, entry 0x01)

UINT32

RO

0xF200:01, 1

167F:02

SubIndex 002

2^nd PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

187F:0

DPM TxPDO-Par Status PDO

PDO parameter TxPDO 128

UINT8

RO

0x06 (6_dec)

187F:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 128

OCTET-STRING[10]

RO

80 1A 00 00 00 00 00 00 00 00

1880:0

DPM TxPDO-Par Status PDO

PDO parameter TxPDO 129

UINT8

RO

0x06 (6_dec)

1880:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 129

OCTET-STRING[10]

RO

81 1A 82 1A 83 1A 84 1A 85 1A

1881:0

DPM TxPDO-Par PDO State

PDO parameter TxPDO 130

UINT8

RO

0x06 (6_dec)

1881:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 130

OCTET-STRING[10]

RO

80 1A 00 00 00 00 00 00 00 00

1882:0

DPM TxPDO-Par PDO Toggle

PDO parameter TxPDO 131

UINT8

RO

0x06 (6_dec)

1882:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 131

OCTET-STRING[10]

RO

80 1A 00 00 00 00 00 00 00 00

1883:0

DPM TxPDO-Par DP Diag

PDO parameter TxPDO 132

UINT8

RO

0x06 (6_dec)

1883:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 132

OCTET-STRING[10]

RO

80 1A 00 00 00 00 00 00 00 00

1884:0

DPM TxPDO-Par DP Status

PDO parameter TxPDO 133

UINT8

RO

0x06 (6_dec)

1884:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 133

OCTET-STRING[10]

RO

80 1A 00 00 00 00 00 00 00 00

1885:0

DPM TxPDO-Par DP-Master Diag

PDO parameter TxPDO 134

UINT8

RO

0x06 (6_dec)

1885:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 134

OCTET-STRING[10]

RO

80 1A 00 00 00 00 00 00 00 00

1886:0

DPM TxPDO-Par Cycle Statistics

PDO parameter TxPDO 135

UINT8

RO

0x06 (6_dec)

1886:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 135

OCTET-STRING[10]

RO

80 1A 87 1A 00 00 00 00 00 00

1887:0

DPM TxPDO-Par DC Cyclic Statistics

PDO parameter TxPDO 136

UINT8

RO

0x06 (6_dec)

1887:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 136

OCTET-STRING[10]

RO

80 1A 86 1A 00 00 00 00 00 00

1A00+n:0

DPS TxPDO-Map Slave yyy

There is one TxPDO containing the DP input data of the DP slave for each configured DP slave. There is an entry in the TxPDO mapping object 0x1A00+n for each DP module with DP input data configured in object 0x8002+(n*16). If a DP slave does not contain any DP input data, then the PDO mapping object 0x1A00+n does not exist. These PDOs are mandatory and must always be contained in the PDO Assign object 0x1C13, depending on the configured DP slaves. SubIndex 0 contains the number of DP modules with DP input data of the (n+1)^th configured DP slave.

UINT8

RO

(1A00+n):01

first DP module with DP input data of the (n+1)^th configured DP slave

UINT32

RO

...

..

(1A00+n):FF

last DP module with DP input data of the (n+1)^th configured DP slave

UINT32

RO

1A7F:0

DPM TxPDO-Map Status PDO

PDO Mapping TxPDO 128

UINT8

RO

0x03 (3_dec)

1A7F:01

SubIndex 001

1^st PDO Mapping entry (object 0xF100, entry 0x01)

UINT32

RO

0xF100:01, 8

1A7F:02

SubIndex 002

2^nd PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A7F:03

SubIndex 003

3^rd PDO Mapping entry (object 0xF100, entry 0x0F)

UINT32

RO

0xF100:0F, 1

1A82:0

DPM TxPDO-Map PDO Status

This PDO is assigned if Legacy Mapping (no MDP) is active

UINT8

RO

1A82:01

first PDO mapping entry in the case of Legacy Mapping

UINT32

RO

...

1A82:m

last PDO mapping entry in the case of Legacy Mapping

UINT32

RO

1A81:0

DPM TxPDO-Map PDO State

In this PDO there is a bit for each configured DP slave that is set if the latter is not in exchanging data (a more detailed error cause can be found in 0xF102:m for the m^th configured DP slave). If the bit is set, the data of the associated TxPDO m is to be ignored. This PDO is optional.

UINT8

RO

1A81:01

PDO state of the first configured DP slave (configured via the objects 0x800z)

UINT32

RO

...

1A81:m

PDO state of the last (m^th) configured DP slave (configured via the objects 0x800z+(m-1)*16 (1 <= m <= 127))

UINT32

RO

1A82:0

DPM TxPDO-Map PDO Toggle

For each configured DP slave there is a bit in this PDO that toggles every time new DP input data has been received from the DP slave and updated in the EtherCAT input data. This PDO is optional.

UINT8

RO

1A82:01

PDO toggle of the first configured DP slave (configured via the objects 0x800z)

UINT32

RO

...

1A82:m

PDO toggle of the last (m^th) configured DP slave (configured via the objects 0x800z+(m-1)*16 (1 <= m <= 127))

UINT32

RO

1A83:0

DPM TxPDO-Map DP Status

In this PDO there is a byte for each configured DP slave that contains the communication state (object 0xF102) to the DP slave. This PDO is optional.

UINT8

RO

Number of configured DP slaves

1A83:01

Node state of the first configured DP slave (configured via the objects 0x800z)

UINT32

RO

0xF102:01,8

...

1A83:m

Node state of the last (m^th) configured DP slave (configured via the objects 0x800z+(m-1)*16 (1 <= m <= 127))

UINT32

RO

0xF102:m,8

1A84:0

DPM TxPDO-Map DP Diag

In this PDO there is a bit for each configured DP slave that is set if the diagnostic information (object 0xF103) has changed. This PDO is optional.

UINT8

RO

Number of configured DP slaves

1A84:01

Diag Flag of the first configured DP slave (configured via the objects 0x800z)

UINT32

RO

0xF103:01,1

...

1A84:FF

Diag Flag of the last (m^th) configured DP slave (configured via the objects 0x800z+(m-1)*16 (1 <= m <= 127))

UINT32

RO

0xF103:m,1

1A85:0

DPM TxPDO-Map DP-Master Diag

PDO Mapping TxPDO 134 contains the DP master status (object 0xF101)

UINT8

RW

0x0D (13_dec)

1A85:01

SubIndex 001

1^st PDO Mapping entry (object 0xF101 (DP Master Status data), entry 0x01 (Bus Error Counter))

UINT32

RW

0xF101:01, 16

1A85:02

SubIndex 002

2^nd PDO Mapping entry (object 0xF101 (DP Master Status data), entry 0x02 (Cycle Counter))

UINT32

RW

0xF101:02, 16

1A85:03

SubIndex 003

3^rd PDO Mapping entry (object 0xF101 (DP Master Status data), entry 0x03 (Slave Status Counter))

UINT32

RW

0xF101:03, 16

1A85:04

SubIndex 004

4^th PDO Mapping entry (object 0xF101 (DP Master Status data), entry 0x04 (Cycle Time))

UINT32

RW

0xF101:04, 16

1A85:05

SubIndex 005

5^th PDO Mapping entry (object 0xF101 (DP Master Status data), entry 0x05 (Repeat Counter))

UINT32

RW

0xF101:05, 16

1A85:06

SubIndex 006

6^th PDO Mapping entry (16 bits align)

UINT32

RW

0x0000:00, 16

1A85:07

SubIndex 007

7^th PDO Mapping entry (16 bits align)

UINT32

RW

0x0000:00, 16

1A85:08

SubIndex 008

8^th PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

1A85:09

SubIndex 009

9^th PDO Mapping entry (4 bits align)

UINT32

RW

0x0000:00, 4

1A85:0A

SubIndex 010

10^th PDO Mapping entry (object 0xF101 (DP Master Status data), entry 0x14 (Device Diag))

UINT32

RW

0xF101:14, 1

1A85:0B

SubIndex 011

11^th PDO Mapping entry (object 0xF101 (DP Master Status data), entry 0x15 (Sync Error))

UINT32

RW

0xF101:15, 1

1A85:0C

SubIndex 012

12^th PDO Mapping entry (object 0xF101 (DP Master Status data), entry 0x16 (Cycle Toggle))

UINT32

RW

0xF101:16, 1

1A85:0D

SubIndex 013

13^th PDO Mapping entry (object 0xF101 (DP Master Status data), entry 0x17 (Cycle State))

UINT32

RW

0xF101:17, 1

1A86:0

DPM TxPDO-Map Cycle Statistics

PDO Mapping TxPDO 135 contains the DP master cycle statistics (object 0xF10F) for the SM synchronous mode

UINT8

RW

0x05 (5_dec)

1A86:01

SubIndex 001

1^st PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x03 (Cycle Time))

UINT32

RW

0xF10F:03, 16

1A86:02

SubIndex 002

2^nd PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x04 (Cycle Distance Time))

UINT32

RW

0xF10F:04, 16

1A86:03

SubIndex 003

3^rd PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x05 (Output Calc And Copy Time))

UINT32

RW

0xF10F:05, 16

1A86:04

SubIndex 004

4^th PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x06 (Input Calc And Copy Time))

UINT32

RW

0xF10F:04, 16

1A86:05

SubIndex 005

5^th PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x07 (Output Delay Time))

UINT32

RW

0xF10F:07, 16

1A87:0

DPM TxPDO-Map DC Cyclic Statistics

PDO Mapping TxPDO 136 contains the DP master cycle statistics (object 0xF10F) for the DC mode

UINT8

RW

0x06 (6_dec)

1A87:01

SubIndex 001

1^st PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x03 (Cycle Time))

UINT32

RW

0xF10F:03, 16

1A87:02

SubIndex 002

2^nd PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x04 (Cycle Distance Time))

UINT32

RW

0xF10F:04, 16

1A87:03

SubIndex 003

3^rd PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x05 (Output Calc And Copy Time))

UINT32

RW

0xF10F:05, 16

1A87:04

SubIndex 004

4^th PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x06 (Input Calc And Copy Time))

UINT32

RW

0xF10F:04, 16

1A87:05

SubIndex 005

5^th PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x07 (Output Delay Time))

UINT32

RW

0xF10F:07, 32

1A87:06

SubIndex 006

6^th PDO Mapping entry (object 0xF10F (Cycle Statistic data), entry 0x08 (SM/SYNC Event Distance Time))

UINT32

RW

0xF10F:08, 32

1A88:0

DPM TxPDO-Map Redundancy Status

PDO Mapping TxPDO 137

UINT8

RO

0x05 (5_dec)

1A88:01

SubIndex 001

1^st PDO Mapping entry (object 0xF118, entry 0x01)

UINT32

RO

0xF118:01, 1

1A88:02

SubIndex 002

2^nd PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

1A88:03

SubIndex 003

3^rd PDO Mapping entry (object 0xF118, entry 0x11)

UINT32

RO

0xF118:11, 16

1A88:04

SubIndex 004

4^th PDO Mapping entry (object 0xF118, entry 0x12)

UINT32

RO

0xF118:12, 16

1A88:05

SubIndex 005

5^th PDO Mapping entry (object 0xF118, entry 0x11)

UINT32

RO

0xF118:13, 16

1C00:0

Sync manager type

Using the sync managers

UINT8

RO

0x04 (4_dec)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1_dec)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2_dec)

1C00:03

SubIndex 003

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

UINT8

RO

0x03 (3_dec)

1C00:04

SubIndex 004

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

UINT8

RO

0x04 (4_dec)

1C12:0

RxPDO assign

PDO Assign Outputs: the RxPDOs must be assigned in the order of their indexes. The RxPDOs of the configured DP slaves (0x1600-0x167E) must be assigned if object 0x1C12 is transmitted in the StartUp SDOs.

UINT8

RW

0x00 (0_dec)

1C12:01

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

...

1C12:7E

126^th allocated RxPDO (contains the index of the associated RxPDO mapping object)

1C13:0

TxPDO assign

PDO Assign Inputs: the TxPDOs must be assigned in the order of their indexes. The TxPDOs of the configured DP slaves (0x1A00-0x1A7C) must be assigned if object 0x1C13 is transmitted in the StartUp SDOs. It can then still be decided via TxPDO Assign whether or not the TxPDOs PDO State (index 0x1A81), PDO Toggle (index 0x1A82), DP Diag (index 0x1A83), DP Status (index 0x1A84), DP Master Diag (index 0x1A85), Cycle Statistics (index 0x1A86) and DC Cycle Statistics (index 0x1A87) are transferred to the EtherCAT input data.

UINT8

RW

1C13:01

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

UINT16

RW

...

1C13:86

134^th allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

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: 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)

UINT16

RW

0x0001 (1_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 cycle time (normally also the cycle time of the master)

UINT32

RW

0x000F4240 (1000000_dec)

1C32:03

Shift time

DC mode only (as for 0x1C32:09)

UINT32

RO

0x00000000 (0_dec)

1C32:04

Sync modes supported

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)

UINT16

RO

0x440B (17419_dec)

1C32:05

Minimum cycle time

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.

UINT32

RO

0x0003CFB1 (249777_dec)

1C32:06

Calc and copy time

This entry contains the measured time after the first event (SM2 (SM-synchronous or DC SYNC0-synchronous) 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 earliest. 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-synchronous, 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.

UINT32

RO

0x00000000 (0_dec)

1C32:07

Minimum delay time

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 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

RW

0x0000 (0_dec)

1C32:09

Delay time

This entry contains the time after the second event (SYNC0 event (DC SYNC0-synchronous) or SYNC1 event (DC SYNC1 synchronous)) and the time and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C32:0B

SM event missed counter

This entry contains the number of missed SM events in OPERATIONAL (DC mode only). The counter is automatically reset at the transition from SAFEOP to OP. If it increments, then the SYNC shift time for outputs in the case of the EtherCAT master is too short.

UINT16

RO

0x0000 (0_dec)

1C32:0C

Cycle exceeded counter

This entry contains the number of cycle time infringements during OPERATIONAL (cycle was not completed in time or the next cycle began too early). The counter is automatically reset at the transition from SAFEOP to OP. If it increments, then the cycle time of the EtherCAT master is too short.

UINT16

RO

0x0000 (0_dec)

1C32:0D

Shift too short counter

This entry contains the number of times the distance between SM2 and SYNC 0 event (DC SYNC0) or between SYNC0 and SYNC1 event (DC SYNC1) was too short. The counter is automatically reset at the transition from SAFEOP to OP. If it increments, then the SYNC shift time for outputs in the case of the EtherCAT master (DC SYNC0) or the SYNC1 shift time in the case of the EL6731 (DC SYNC1) is too short.

UINT16

RO

0x0000 (0_dec)

1C32:0F

Minimum Cycle Distance

0x00000000 (0_dec)

1C32:10

Maximum Cycle Distance

0x00000000 (0_dec)

1C32:11

Minimum SM SYNC Distance

0x00000000 (0_dec)

1C32:12

Maximum SM SYNC Distance

0x00000000 (0_dec)

1C32:13

Application Cycle Exceeded Counter

0x0000 (0_dec)

1C32:14

Frame repeat time

0x00000000 (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)

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

0x20 (32_dec)

1C33:01

Sync mode

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)

UINT16

RW

0x0022 (34_dec)

1C33:02

Cycle time

as 0x1C32:02 

UINT32

RW

0x000F4240 (1000000_dec)

1C33:03

Shift time

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

UINT32

RW

0x00000000 (0_dec)

1C33:04

Sync modes supported

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 or 0x1C33:08)

UINT16

RO

0x440B (17419_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x0003CFB1 (249777_dec)

1C33:06

Calc and copy time

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

UINT32

RO

0x00000000 (0_dec)

1C33:07

Minimum delay time

UINT32

RO

0x00000000 (0_dec)

1C33:08

Command

as 0x1C32:08

UINT16

RW

0x0000 (0_dec)

1C33:09

Maximum delay time

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

UINT32

RO

0x00000000 (0_dec)

1C33:0B

SM event missed counter

as 0x1C32:11 

UINT16

RO

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:12 

UINT16

RO

0x0000 (0_dec)

1C33:0D

Shift too short counter

as 0x1C32:13 

UINT16

RO

0x0000 (0_dec)

1C32:0F

Minimum Cycle Distance

UINT32

RO

0x00000000 (0_dec)

1C32:10

Maximum Cycle Distance

UINT32

RO

0x00000000 (0_dec)

1C32:11

Minimum SM SYNC Distance

UINT32

RO

0x00000000 (0_dec)

1C32:12

Maximum SM SYNC Distance

UINT32

RO

0x00000000 (0_dec)

1C32:13

Application Cycle Exceeded Counter

UINT16

RO

0x0000 (0_dec)

1C32:14

Frame repeat time

UINT32

RW

0x00000000 (0_dec)

1C33:20

Sync error

as 0x1C32:32 

BOOLEAN

RO

0x00 (0_dec)