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

0x07 (7dec)

1C12:01

SubIndex 001

1. allocated RxPDO (contains the index of the associated Repo mapping object)

UINT16

RW

0x1600 (5632dec)

1C12:02

SubIndex 002

2. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1680 (5760dec)

1C12:03

SubIndex 003

3. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1690 (5776dec)

1C12:04

SubIndex 004

4. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x16B0 (5808dec)

1C12:05

SubIndex 005

 

 

 

 

1C12:06

SubIndex 006

 

 

 

 

1C12:07

SubIndex 007

 

 

 

 

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x0B (11dec)

1C13:01

SubIndex 001

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

UINT16

RW

0x1B00 (6912dec)

1C13:02

SubIndex 002

2. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A00 (6656dec)

1C13:03

SubIndex 003

3. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A40 (6720dec)

1C13:04

SubIndex 004

4. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A50 (6736dec)

1C13:05

SubIndex 005

5. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A60 (6752dec)

1C13:06

SubIndex 006

6. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A70 (6768dec)

1C13:07

SubIndex 007

7. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1AA0 (6816dec)

1C13:08

SubIndex 008

8. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1AB0 (6832dec)

1C13:09

SubIndex 009

 

 

 

 

1C13:0A

SubIndex 00A

 

 

 

 

1C13:0B

SubIndex 00B

 

 

 

 

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: Synchron with SM 2 Event
  • 2: DC-Mode - Synchron with SYNC0 Event
  • 3: DC-Mode - Synchron with SYNC1 Event

UINT16

RW

0x0001 (1dec)

1C32:02

Cycle time

Cycle time (in ns):

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

UINT32

RW

0x000F4240 (1000000dec)

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: Synchron with SM 2 Event is supported
  • Bit 2-3 = 01: DC-Mode is supported
  • Bit 4-5 = 10: Output Shift with SYNC1 Event (DC mode only)
  • Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08)

UINT16

RO

0x0003 (3dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000dec)

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

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

UINT32

RO

0x00000000 (000000dec)

1C32:08

Get cycle time

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

Entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 1C33:09 are updated with the maximum measured values.

For a subsequent measurement the measured values are reset

UINT16

RW

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 occasions 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: 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 (34dec)

1C33:02

Cycle time

Cycle time (in ns):

  • Free Run: cycle time of the local timer
  • Synchron with SM 2 Event: cycle time of the master

DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x000F4240 (1000000dec)

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: Synchron with SM 2 Event is supported (outputs available)
  • Bit 1: Synchron 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

0x0003 (3dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000dec)

1C33:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C33:07

Minimum delay time

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

UINT32

RO

0x00000000 (000000dec)

1C33:08

Get cycle time

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

Entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 1C33:09 are updated with the maximum measured values.

For a subsequent measurement the measured values are reset

UINT16

RW

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 occasions 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)