# Slot 3 Menu 9 − Resources

Mode: RFC‑A

Resources in use by SI-EtherCAT

Parameter | 3.09.009 Background period
--- | ---
Short description | Background period
Minimum | 0 | Maximum | 65535
Default |  | Units | ms
Type | 16 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT, BU

The background task period in milliseconds

Parameter | 3.09.010 PreCritical Task % Free
--- | ---
Short description | Percentage time free in Pre Critical task
Minimum | -128 | Maximum | 100
Default |  | Units | %
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Current resource available for the PreCritical task. In the SI-EtherCAT option, this is the PreCritical Task executed 75µs before OptSync, the 250µs task executed synchronously with the drive control loops.

Parameter | 3.09.011 Critical Task % Free
--- | ---
Short description | Percentage time free in Critical task
Minimum | -128 | Maximum | 100
Default |  | Units | %
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Current resource available for the Critical task. In the SI-EtherCAT option, this is the Critical Task executed on OptSync, every 250µs, executed synchronously with the drive control loops.

Parameter | 3.09.012 PostCritical Task % Free
--- | ---
Short description | Percentage time free in Post Critical task
Minimum | -128 | Maximum | 100
Default |  | Units | %
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Current resource available for the PostCritical task. In the SI-EtherCAT option, this is the PostCritical Task executed 75µs after OptSync, the 250µs task executed synchronously with the drive control loops.

Parameter | 3.09.020 PreCritical Task Worst % Free
--- | ---
Short description | Worst case free time in Pre Critical task
Minimum | -128 | Maximum | 100
Default |  | Units | %
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Worst case free resource of the PreCritical task.

Parameter | 3.09.021 Critical Task Worst % Free
--- | ---
Short description | Worst case free time in Critical task
Minimum | -128 | Maximum | 100
Default |  | Units | %
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Worst case free resource of the Critical task.

Parameter | 3.09.022 PostCritical Task Worst % Free
--- | ---
Short description | Worst case free time in Post Critical task
Minimum | -128 | Maximum | 100
Default |  | Units | %
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Worst case free resource of the PostCritical task.

Parameter | 3.09.024 OutData Margin
--- | ---
Short description | Time between arrival of PDO data and need to use that data
Minimum | -2147483648 | Maximum | 2147483647
Default |  | Units | µs
Type | 32 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

The margin in microseconds between when the TxPDO data has been received from the Network and when the values have been applied to the hardware. A negative value indicates data is too late (and hence used in the next cycle).

Parameter | 3.09.030 PCB Temperature
--- | ---
Short description | PCB Temperature in degrees C
Minimum | -128 | Maximum | 127
Default |  | Units | °C
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC

Module temperature in degrees Celsius.

Parameter | 3.09.039 Active Alarm Bits
--- | ---
Short description | Active Alarm Bit mask
Minimum | 0 (Display: 0000000000000000) | Maximum | 65535 (Display: 1111111111111111)
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | Background
Display Format | Binary | Decimal Places | 0
Coding | RO, ND, NC, PT, BU

Bit | Alarm
0 | Reserved for future use
1 | Reserved for future use
2 | Temperature too Hot
3 | PDOs lost
4 | Home position save/restore failed
5 | Synchronisation between drive and network failed
6 | PDO exchange stopped

Parameter | 3.09.040 Diagnostic Counter Selector
--- | ---
Short description | This allows the user to select which diagnostic counter to view.
Minimum | 0 | Maximum | 16
Default | 0 | Units |
Type | 8 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, TE, NC, PT

Value | Text | Description
0 | Off | No Counter Selected to be displayed
1 | Port A Inv Errs | Port A Invalid Frame Receive Error Counter
2 | Port B Inv Errs | Port B Invalid Frame Receive Error Counter
3 | Port A Rx Errs | Port A Receive Error Counter
4 | Port B Rx Errs | Port B Receive Error Counter
5 | Port A Fwd Errs | Port A Forwarded Error Counter
6 | Port B Fwd Errs | Port B Forwarded Error Counter
7 | Port A LL Count | Port A Link loss Counter
8 | Port B LL Count | Port B Link loss Counter
9 | SPI CRC Errs | Drive SPI interface CRC Errors
10 | SPI Start Errs | Drive SPI interface Start Errors
11 | SPI NACK Errs | Drive SPI interface NACK Errors
12 | SPI Retry Count | Drive SPI interface Retry Count
13 | SPI Req Count | Drive SPI interface Request Count
14 | Internal 1 |
15 | Internal 2 |
16 | Internal 3 |

Select the Diagnostic counter to be viewed in Diagnostic Counter Value (3.09.041).

Value | Name

Parameter | 3.09.041 Diagnostic Counter Value
--- | ---
Short description | Value of Diagnostic Counter selected
Minimum | 0 | Maximum | 0
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Value of the Diagnostic Counter selected to be viewed by Diagnostic Counter Selector (3.09.040)

Parameter | 3.09.043 Worst Drive to Network Sync time
--- | ---
Short description | Worst Drive to Network Sync time
Minimum | 0 | Maximum | 65535
Default |  | Units | ms
Type | 16 Bit Volatile | Update Rate | After SafeOp to Op transition
Display Format | Standard | Decimal Places | 0
Coding | RW, ND, NC, PT, BU

The longest time it has taken for Network Synchronisation to be achieved after going from SafeOp to Op state

Parameter | 3.09.050 Object Index view Selector 1
--- | ---
Short description | Object Index view Selector 1
Minimum | 0 | Maximum | 65535
Default | 0 | Units |
Type | 16 Bit Volatile | Update Rate | background
Display Format | Standard | Decimal Places | 0
Coding | RW, NC, PT, BU

Select a CAN Object Index to view in 3.09.052. The CAN Object Subindex 3.09.051 also need to be configured.

Setting a value of zero will freeze the value in 3.09.052, to that for the previous object selected.

Parameter | 3.09.051 Object Subindex View Selector 1
--- | ---
Short description | Object Subindex View Selector 1
Minimum | 0 | Maximum | 255
Default | 0 | Units |
Type | 8 Bit Volatile | Update Rate | background
Display Format | Standard | Decimal Places | 0
Coding | RW, NC, PT, BU

Select a CAN Object SubIndex to view in 3.09.052

Parameter | 3.09.052 Object view value 1
--- | ---
Short description | Value of selected object 1
Minimum | 0 | Maximum | 0
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Value of Object selected in 3.09.050:3.09.051

Parameter | 3.09.053 Object Index view Selector 2
--- | ---
Short description | Object Index view Selector 2
Minimum | 0 | Maximum | 65535
Default | 0 | Units |
Type | 16 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, NC, PT, BU

Select a CAN Object Index to view in 3.09.055. The CAN Object Subindex 3.09.054 also need to be configured.

Setting a value of zero will freeze the value in 3.09.055, to that for the previous object selected.

Parameter | 3.09.054 Object Subindex View Selector 2
--- | ---
Short description | Object Subindex View Selector 2
Minimum | 0 | Maximum | 255
Default | 0 | Units |
Type | 8 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, NC, PT, BU

Select a CAN Object SubIndex to view in 3.09.055

Parameter | 3.09.055 Object view value 2
--- | ---
Short description | Value of selected object 2
Minimum | 0 | Maximum | 0
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Value of Object selected in 3.09.053:3.09.054

Parameter | 3.09.056 Object Index view Selector 3
--- | ---
Short description | Object Index view Selector 3
Minimum | 0 | Maximum | 65535
Default | 0 | Units |
Type | 16 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, NC, PT, BU

Select a CAN Object Index to view in 3.09.058. The CAN Object Subindex 3.09.057 also need to be configured.

Setting a value of zero will freeze the value in 3.09.058, to that for the previous object selected.

Parameter | 3.09.057 Object Subindex View Selector 3
--- | ---
Short description | Object Subindex View Selector 3
Minimum | 0 | Maximum | 255
Default | 0 | Units |
Type | 8 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, NC, PT, BU

Select a CAN Object SubIndex to view in 3.09.058

Parameter | 3.09.058 Object view value 3
--- | ---
Short description | Value of selected object 3
Minimum | 0 | Maximum | 0
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Value of Object selected in 3.09.056:3.09.057