EP31x2 - Object description and parameterization
Parameterization You can parameterize the box via the "CoE - Online" tab in TwinCAT. |
EtherCAT XML Device Description The presentation matches that of the EtherCAT XML Device Description. |
Introduction
The CoE overview contains objects for different intended applications:
- Objects required for parameterization during commissioning
- Objects for indicating internal settings (may be fixed)
- Further profile-specific objects indicating inputs, outputs and status information
The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.
Objects to be parameterized during commissioning
Index 1011 Restore default parameters
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1011:0 | Restore default parameters | Restore default settings | UINT8 | RO | 0x01 (1dec) |
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 (0dec) |
Index 8000 AI settings Ch.1 (parameterization of channel 1)
Index (hex) | Name | Meaning | Data type | Flags | Default | |
---|---|---|---|---|---|---|
8000:0 | AI Settings Ch.1 | Maximum subindex | UINT8 | RO | 0x18 (24dec) | |
8000:01 | Enable user scale | 1 | User scale is active. | BOOLEAN | RW | 0x00 (0dec) |
8000:02 | Presentation | 0 | Signed presentation | BIT3 | RW | 0x00 (0dec) |
1 | Unsigned presentation | |||||
2 | Absolute value with MSB as sign (signed amount representation) | |||||
8000:05 | Siemens bits | The S5 bits are displayed in the three low-order bits | BOOLEAN | RW | 0x00 (0dec) | |
8000:06 | Enable filter | 1 | Enable filter, which makes PLC-cycle-synchronous data exchange unnecessary | BOOLEAN | RW | 0x00 (0dec) |
8000:07 | Enable limit 1 | 1 | Limit 1 enabled | BOOLEAN | RW | 0x00 (0dec) |
8000:08 | Enable limit 2 | 1 | Limit 2 enabled | BOOLEAN | RW | 0x00 (0dec) |
8000:0A | Enable user calibration | 1 | Enabling of the user calibration | BOOLEAN | RW | 0x00 (0dec) |
8000:0B | Enable vendor calibration | 1 | Enabling of the vendor calibration | BOOLEAN | RW | 0x01 (1dec) |
8000:0E | Swap limit bits | 1 | Swaps the two limit bits, in order to achieve compatibility with older hardware versions. | BOOLEAN | RW | 0x00 (0dec) |
8000:11 | User scale offset | User scale offset | INT16 | RW | 0x0000 (0dec) | |
8000:12 | User scale gain | User scale gain. | INT32 | RW | 0x00010000 (65536dec) | |
8000:13 | Limit 1 | First limit value for setting the status bits | INT16 | RW | 0x0000 (0dec) | |
8000:14 | Limit 2 | Second limit value for setting the status bits | INT16 | RW | 0x0000 (0dec) | |
8000:15 | Filter settings | This object determines the digital filter settings for all channels of the module, if it is activated via Enable filter (index 0x80n0:06). The possible settings are sequentially numbered. | UINT16 | RW | 0x0000 (0dec) | |
0 | 50 Hz FIR | |||||
1 | 60 Hz FIR | |||||
2 | IIR 1 | |||||
3 | IIR 2 | |||||
4 | IIR 3 | |||||
5 | IIR 4 | |||||
6 | IIR 5 | |||||
7 | IIR 6 | |||||
8 | IIR 7 | |||||
9 | IIR 8 | |||||
8000:17 | User calibration offset | User calibration: Offset | INT16 | RW | 0x0000 (0dec) | |
8000:18 | User calibration gain | User calibration: Gain | INT16 | RW | 0x4000 (16384dec) |
Index 8010 AI Settings (parameterization of channel 2)
Index (hex) | Name | Meaning | Data type | Flags | Default | |
---|---|---|---|---|---|---|
8010:0 | AI Settings | Maximum subindex | UINT8 | RO | 0x18 (24dec) | |
8010:01 | Enable user scale | 1 | User scale is active. | BOOLEAN | RW | 0x00 (0dec) |
8010:02 | Presentation | 0 | Signed presentation | BIT3 | RW | 0x00 (0dec) |
1 | Unsigned presentation | |||||
2 | Absolute value with MSB as sign (signed amount representation) | |||||
8000:05 | Siemens bits | The S5 bits are displayed in the three low-order bits | BOOLEAN | RW | 0x00 (0dec) | |
8010:06 | Enable filter | 1 | Enable filter, which makes PLC-cycle-synchronous data exchange unnecessary | BOOLEAN | RW | 0x01 (1dec) |
8010:07 | Enable limit 1 | 1 | Limit 1 enabled | BOOLEAN | RW | 0x00 (0dec) |
8010:08 | Enable limit 2 | 1 | Limit 2 enabled | BOOLEAN | RW | 0x00 (0dec) |
8010:0A | Enable user calibration | 1 | Enables user calibration | BOOLEAN | RW | 0x00 (0dec) |
8010:0B | Enable vendor calibration | 1 | Enable vendor calibration | BOOLEAN | RW | 0x01 (1dec) |
8010:0E | Swap limit bits | 1 | Swaps the two limit bits, in order to achieve compatibility with older hardware versions. | BOOLEAN | RW | 0x00 (0dec) |
8010:11 | User scale offset | User scale offset | INT16 | RW | 0x0000 (0dec) | |
8010:12 | User scale gain | User scale gain. | INT32 | RW | 0x00010000 (65536dec) | |
8010:13 | Limit 1 | First limit value for setting the status bits | INT16 | RW | 0x0000 (0dec) | |
8010:14 | Limit 2 | Second limit value for setting the status bits | INT16 | RW | 0x0000 (0dec) | |
8010:15 | Filter settings | This object shows the digital filter settings. The filter settings can only be read here. They are set via channel 1 for all channels of the module. | UINT16 | RW | 0x0000 (0dec) | |
0 | 50 Hz FIR | |||||
1 | 60 Hz FIR | |||||
2 | IIR 1 | |||||
3 | IIR 2 | |||||
4 | IIR 3 | |||||
5 | IIR 4 | |||||
6 | IIR 5 | |||||
7 | IIR 6 | |||||
8 | IIR 7 | |||||
9 | IIR 8 | |||||
8010:17 | User calibration offset | User calibration: Offset | INT16 | RW | 0x0000 (0dec) | |
8010:18 | User calibration gain | User calibration: Gain | INT16 | RW | 0x4000 (16384dec) |
Index F800 AI Range Settings (EP3174/EP3184 from firmware version 04 as well as all EP3182)
Index (hex) | Name | Meaning | Data type | Flags | Default | |
---|---|---|---|---|---|---|
F800:0 | AI Range Settings | Maximum subindex | UINT8 | RO | 0x02 (2dec) | |
F800:01 | Input type Ch1 | Input signal range for channel 1 | UINT16 | RW | 0x0000 (0dec) | |
0 | -10 V...+10 V | |||||
1 | 0 mA...20 mA | |||||
2 | 4 mA...20 mA | |||||
4 | -20 mA…20 mA | |||||
6 | 0 V...10 V | |||||
F800:02 | Input type Ch2 | Input signal range for channel 2 (values see channel 1) | UINT16 | RW | 0x0000 (0dec) |
Additional objects
Standard objects (0x1000-0x1FFF)
The standard objects have the same meaning for all EtherCAT slaves.
Index 1000 Device type
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
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 | EP3162-0001: EP3182-1002: |
Index 1008 Device name
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1008:0 | Device name | Device name of the EtherCAT slave | STRING | RO | EP3162-0002 EP3182-1002 |
Index 1009 Hardware version
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1009:0 | Hardware version | Hardware version of the EtherCAT slave | STRING | RO | 01 |
Index 100A Software Version
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
100A:0 | Software version | Firmware version of the EtherCAT slave | STRING | RO | 01 |
Index 1018 Identity
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1018:0 | Identity | Information for identifying the slave | UINT8 | RO | 0x04 (4dec) |
1018:01 | Vendor ID | Vendor ID of the EtherCAT slave | UINT32 | RO | 0x00000002 (2dec) |
1018:02 | Product code | Product code of the EtherCAT slave | UINT32 | RO | EP3162.0002: EP3182-1002: |
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 (0dec) |
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 (0dec) |
Index 10F0 Backup parameter handling
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
10F0:0 | Backup parameter handling | Information for standardized loading and saving of backup entries | UINT8 | RO | 0x01 (1dec) |
10F0:01 | Checksum | Checksum across all backup entries of the EtherCAT slave | UINT32 | RO | 0x00000000 (0dec) |
Index 1600 DO RxPDO-Map Outputs (EP3182-1002 only)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1600:0 | DO RxPDO-Map Outputs | PDO Mapping TxPDO 1 | UINT8 | RO | 0x0B (11dec) |
1600:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7020 (DO Outputs), entry 0x01 (Digital output 1)) | UINT32 | RO | 0x7020:01, 1 |
1600:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7020 (DO Outputs), entry 0x02 (Digital output 2)) | UINT32 | RO | 0x7020:02, 1 |
1600:03 | SubIndex 003 | 3. PDO Mapping entry (14 bits align) | UINT32 | RO | 0x0000:00, 14 |
Index 1800 AI TxPDO-Par Standard Ch.1 (EP3182-1002 only)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1800:0 | AI TxPDO-Par Standard Ch.1 | PDO parameter TxPDO 1 | UINT8 | RO | 0x06 (6dec) |
1800:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1 | OCTET-STRING[2] | RO | 01 1A |
Index 1801 AI TxPDO-Par Compact Ch.1 (EP3182-1002 only)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1801:0 | AI TxPDO-Par Compact Ch.1 | PDO parameter TxPDO 2 | UINT8 | RO | 0x06 (6dec) |
1801:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2 | OCTET-STRING[2] | RO | 00 1A |
Index 1802 AI TxPDO-Par Standard Ch.2 (EP3182-1002 only)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1802:0 | AI TxPDO-Par Standard Ch.2 | PDO parameter TxPDO 3 | UINT8 | RO | 0x06 (6dec) |
1802:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 3 | OCTET-STRING[2] | RO | 03 1A |
Index 1803 AI TxPDO-Par Compact Ch.2 (EP3182-1002 only)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1803:0 | AI TxPDO-Par Compact Ch.2 | PDO parameter TxPDO 4 | UINT8 | RO | 0x06 (6dec) |
1803:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4 | OCTET-STRING[2] | RO | 02 1A |
Index 1A00 AI TxPDO-Map Standard Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A00:0 | AI TxPDO-Map Standard Ch.1 | PDO Mapping TxPDO 1 | UINT8 | RO | 0x0B (11dec) |
1A00:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x01 (Underrange)) | UINT32 | RO | 0x6000:01, 1 |
1A00:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x02 (Overrange)) | UINT32 | RO | 0x6000:02, 1 |
1A00:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x03 (Limit 1)) | UINT32 | RO | 0x6000:03, 2 |
1A00:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x05 (Limit 2)) | UINT32 | RO | 0x6000:05, 2 |
1A00:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x07 (Error)) | UINT32 | RO | 0x6000:07, 1 |
1A00:06 | SubIndex 006 | 6. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A00:07 | SubIndex 007 | 7. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A00:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6000 (AI Inputs, entry 0x0E (Sync error)) | UINT32 | RO | 0x6000:0E, 1 |
1A00:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x0F (TxPDO State)) | UINT32 | RO | 0x6000:0F, 1 |
1A00:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6000:10, 1 |
1A00:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x16 (TxPDO Toggle)) | UINT32 | RO | 0x6000:11, 16 |
Index 1A01 AI TxPDO-Map Standard Ch.2 (EP3162-0002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A01:0 | AI TxPDO-Map Standard Ch.2 | PDO Mapping TxPDO 3 | UINT8 | RO | 0x0B (11dec) |
1A01:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x01 (Underrange)) | UINT32 | RO | 0x6010:01, 1 |
1A01:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x02 (Overrange)) | UINT32 | RO | 0x6010:02, 1 |
1A01:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x03 (Limit 1)) | UINT32 | RO | 0x6010:03, 2 |
1A01:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x05 (Limit 2)) | UINT32 | RO | 0x6010:05, 2 |
1A01:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x07 (Error)) | UINT32 | RO | 0x6010:07, 1 |
1A01:06 | SubIndex 006 | 6. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A01:07 | SubIndex 007 | 7. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 6 |
1A01:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x1C32, entry 0x20) | UINT32 | RO | 0x1802:07, 1 |
1A01:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x1802 (AI TxPDO-Par Standard Ch.2), entry 0x07 (TxPDO State)) | UINT32 | RO | 0x1802:09, 1 |
1A01:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x1802 (AI TxPDO-Par Standard Ch.2), entry 0x09 (TxPDO Toggle)) | UINT32 | RO | 0x6010:10, 1 |
1A01:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x1802 (AI TxPDO-Par Standard Ch.2), entry 0x09 (TxPDO Toggle)) | UINT32 | RO | 0x6010:11, 16 |
Index 1A01 AI TxPDO-Map Compact Ch.1 (EP3182-1002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A01:0 | AI TxPDO-Map Compact Ch.1 | PDO Mapping TxPDO 2 | UINT8 | RO | 0x01 (1dec) |
1A01:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value)) | UINT32 | RO | 0x6000:11, 16 |
Index 1A02 AI TxPDO-Map Standard Ch.2 (EP3182-1002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A02:0 | AI TxPDO-Map Standard Ch.2 | PDO Mapping TxPDO 3 | UINT8 | RO | 0x0B (11dec) |
1A02:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x01 (Underrange)) | UINT32 | RO | 0x6010:01, 1 |
1A02:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x02 (Overrange)) | UINT32 | RO | 0x6010:02, 1 |
1A02:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x03 (Limit 1)) | UINT32 | RO | 0x6010:03, 2 |
1A02:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x05 (Limit 2)) | UINT32 | RO | 0x6010:05, 2 |
1A02:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x07 (Error)) | UINT32 | RO | 0x6010:07, 1 |
1A02:06 | SubIndex 006 | 6. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A02:07 | SubIndex 007 | 7. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 6 |
1A02:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6010 (AI Inputs, entry 0x0E (Sync error)) | UINT32 | RO | 0x6010:0E, 1 |
1A02:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6010 (AI inputs), entry 0x0F (TxPDO State)) | UINT32 | RO | 0x6010:0F, 1 |
1A02:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x60102 (AI inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6010:10, 1 |
1A02:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x1802 (AI TxPDO-Par Standard Ch.2), entry 0x09 (TxPDO Toggle)) | UINT32 | RO | 0x6010:11, 16 |
Index 1A03 AI TxPDO-Map Compact Ch.2 (EP3182-1002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A03:0 | AI TxPDO-Map Compact Ch.2 | PDO Mapping TxPDO 4 | UINT8 | RO | 0x01 (1dec) |
1A03:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x11 (Value)) | UINT32 | RO | 0x6010:11, 16 |
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 (EP3162-0002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C12:0 | RxPDO assign | PDO Assign Outputs | UINT8 | RW | 0x00 (0dec) |
1C12:01 | SubIndex 001 |
| UINT8 | RW | - |
1C12:02 | SubIndex 002 |
| UINT8 | RW | - |
Index 1C12 RxPDO assign (EP3182-1002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C12:0 | RxPDO assign | PDO Assign Outputs | UINT8 | RW | 0x01 (1dec) |
1C12:01 | SubIndex 001 | 1. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT8 | RW | 0x1600 (5632dec) |
Index 1C13 TxPDO assign (EP3162-0002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C13:0 | TxPDO assign | PDO Assign Inputs | UINT8 | RW | 0x04 (4dec) |
1C13:01 | Subindex 001 | 1. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x1A00 (6656dec) |
1C13:02 | Subindex 002 | 2. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x1A01 (6657dec) |
1C13:03 | Subindex 003 | 3. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | - |
1C13:04 | Subindex 004 | 4. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | - |
Index 1C13 TxPDO assign (EP3182-1002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C13:0 | TxPDO assign | PDO Assign Inputs | UINT8 | RW | 0x04 (4dec) |
1C13:01 | Subindex 001 | 1. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x1A00 (6656dec) |
1C13:02 | Subindex 002 | 2. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x1A02 (6657dec) |
Index 1C32 SM output parameter (EP3162-0002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C32:0 | SM output parameter | Synchronization parameters for the inputs | UINT8 | RO | 0x20 (32dec) |
1C32:01 | Sync mode | Current synchronization mode:
| UINT16 | RW | 0x0000 (0dec) |
1C32:02 | Cycle time |
| UINT32 | RW | 0x000F4240 (1000000dec) |
1C32:03 | Shift time | Time between SYNC0 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C32:04 | Sync modes supported | Supported synchronization modes:
| UINT16 | RO | 0xC009 (49161dec) |
1C32:05 | Minimum cycle time |
| UINT32 | RO | 0x00055730 (350000dec) |
1C32:06 | 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 (0dec) |
1C32:07 | Minimum delay time |
| UINT32 | RO | 0x00000000 (0dec) |
1C32:08 | Command |
| UINT16 | RW | 0x0000 (0dec) |
1C32:09 | Maximum delay time | Time between SYNC1 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C32:0B | SM event missed counter |
| UINT16 | RO | 0x0000 (0dec) |
1C32:0C | Cycle exceeded counter |
| UINT16 | RO | 0x0000 (0dec) |
1C32:0D | Shift too short counter |
| UINT16 | RO | 0x0000 (0dec) |
1C32:20 | Sync error |
| BOOLEAN | RO | 0x00 (0dec) |
Index 1C32 SM output parameter (EP3182-1002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C32:0 | SM output parameter | Synchronization parameters for the inputs | UINT8 | RO | 0x20 (32dec) |
1C32:01 | Sync mode | Current synchronization mode:
| UINT16 | RW | 0x0001 (0dec) |
1C32:02 | Cycle time |
| UINT32 | RW | 0x000F4240 (1000000dec) |
1C32:03 | Shift time | Time between SYNC0 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00001388 (5000dec) |
1C32:04 | Sync modes supported | Supported synchronization modes:
| UINT16 | RO | 0xC007 (49159dec) |
1C32:05 | Minimum cycle time |
| UINT32 | RO | 0x00030D40 (200000dec) |
1C32:06 | 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 | 0x00001388 (5000dec) |
1C32:07 | Minimum delay time |
| UINT32 | RO | 0x00000000 (0dec) |
1C32:08 | Command |
| UINT16 | RW | 0x0000 (0dec) |
1C32:09 | Maximum delay time | Time between SYNC1 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C32:0B | SM event missed counter |
| UINT16 | RO | 0x0000 (0dec) |
1C32:0C | Cycle exceeded counter |
| UINT16 | RO | 0x0000 (0dec) |
1C32:0D | Shift too short counter |
| UINT16 | RO | 0x0000 (0dec) |
1C32:20 | Sync error |
| BOOLEAN | RO | 0x00 (0dec) |
Index 1C33 SM output parameter (EP3162-0002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C33:0 | SM output parameter | Synchronization parameters for the inputs | UINT8 | RO | 0x20 (32dec) |
1C33:01 | Sync mode | Current synchronization mode:
| UINT16 | RW | 0x0000 (0dec) |
1C33:02 | Cycle time |
| UINT32 | RW | 0x000F4240 (1000000dec) |
1C33:03 | Shift time | Time between SYNC0 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00001388 (5000dec) |
1C33:04 | Sync modes supported | Supported synchronization modes:
| UINT16 | RO | 0xC009 (49161dec) |
1C33:05 | Minimum cycle time |
| UINT32 | RO | 0x00055730 (350000dec) |
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 (0dec) |
1C33:07 | Minimum delay time |
| UINT32 | RO | 0x00001388 (5000dec) |
1C33:08 | Command |
| UINT16 | RW | 0x0000 (0dec) |
1C33:09 | Maximum delay time | Time between SYNC1 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00001388 (5000dec) |
1C33:0B | SM event missed counter |
| UINT16 | RO | 0x0000 (0dec) |
1C33:0C | Cycle exceeded counter |
| UINT16 | RO | 0x0000 (0dec) |
1C33:0D | Shift too short counter |
| UINT16 | RO | 0x0000 (0dec) |
1C33:20 | Sync error |
| BOOLEAN | RO | 0x00 (0dec) |
Index 1C33 SM input parameter (EP3182-1002)
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:
| UINT16 | RW | 0x0022 (34dec) |
1C33:02 | Cycle time |
| UINT32 | RW | 0x000F4240 (1000000dec) |
1C33:03 | Shift time | Time between SYNC0 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00001388 (5000dec) |
1C33:04 | Sync modes supported | Supported synchronization modes:
| UINT16 | RO | 0xC007 (49159dec) |
1C33:05 | Minimum cycle time |
| UINT32 | RO | 0x00030D40 (200000dec) |
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 | 0x00002710 (10000dec) |
1C33:07 | Minimum delay time |
| UINT32 | RO | 0x00001388 (5000dec) |
1C33:08 | Command |
| UINT16 | RW | 0x0000 (0dec) |
1C33:09 | Maximum Delay time | Time between SYNC1 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00001388 (5000dec) |
1C33:0B | SM event missed counter |
| UINT16 | RO | 0x0000 (0dec) |
1C33:0C | Cycle exceeded counter |
| UINT16 | RO | 0x0000 (0dec) |
1C33:0D | Shift too short counter |
| UINT16 | RO | 0x0000 (0dec) |
1C33:20 | Sync error |
| BOOLEAN | RO | 0x00 (0dec) |
Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Index 6000 AI Inputs Ch. 1
Index (hex) | Name | Meaning | Data type | Flags | Default | |
---|---|---|---|---|---|---|
6000:0 | AI Inputs Ch. 1 | Maximum subindex | UINT8 | RO | 0x11 (17dec) | |
6000:01 | Underrange | Is set if the value falls below the operating range of the sensor or the process data contains the lowest possible value. | BOOLEAN | RO | 0x00 (0dec) | |
6000:02 | Overrange | Is set if the value exceeds the operating range of the sensor or the process data contains the highest possible value. | BOOLEAN | RO | 0x00 (0dec) | |
6000:03 | Limit 1 | Only when limit check is active | BIT2 | RO | - | |
1 | Value below set limit | |||||
2 | Set limit exceeded | |||||
3 | Set limit reached | |||||
6000:05 | Limit 2 | Only when limit check is active | BIT2 | RO | - | |
1 | Value below set limit | |||||
2 | Set limit exceeded | |||||
3 | Set limit reached | |||||
6000:07 | Error | The error bit is set if the process data is invalid (wire breakage, overrange, underrange). | BOOLEAN | RO | 0x00 (0dec) | |
6000:0E | Sync error |
| BOOLEAN | RO | 0x00 (0dec) | |
6000:0F | TxPDO State | Validity of the data of the associated TxPDO | BOOLEAN | RO | 0x00 (0dec) | |
0 | valid | |||||
1 | invalid | |||||
6000:10 | TxPDO Toggle | TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. | BOOLEAN | RO | 0x00 (0dec) | |
6000:11 | Value | Analog input date | INT16 | RO | 0x0000 (0dec) |
Index 6010 AI Inputs Ch. 2
Index (hex) | Name | Meaning | Data type | Flags | Default | |
---|---|---|---|---|---|---|
6010:0 | AI Inputs Ch. 2 | Maximum subindex | UINT8 | RO | 0x11 (17dec) | |
6010:01 | Underrange | Is set if the value falls below the operating range of the sensor or the process data contains the lowest possible value. | BOOLEAN | RO | 0x00 (0dec) | |
6010:02 | Overrange | Is set if the value exceeds the operating range of the sensor or the process data contains the highest possible value. | BOOLEAN | RO | 0x00 (0dec) | |
6010:03 | Limit 1 | Only when limit check is active | BIT2 | RO | - | |
1 | Value below set limit | |||||
2 | Set limit exceeded | |||||
3 | Set limit reached | |||||
6010:05 | Limit 2 | Only when limit check is active | BIT2 | RO | - | |
1 | Value below set limit | |||||
2 | Set limit exceeded | |||||
3 | Set limit reached | |||||
6010:07 | Error | The error bit is set if the process data is invalid (wire breakage, overrange, underrange). | BOOLEAN | RO | 0x00 (0dec) | |
6010:0E | Sync error |
| BOOLEAN | RO | 0x00 (0dec) | |
6010:0F | TxPDO State | Validity of the data of the associated TxPDO | BOOLEAN | RO | 0x00 (0dec) | |
0 | valid | |||||
1 | invalid | |||||
6010:10 | TxPDO Toggle | TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. | BOOLEAN | RO | 0x00 (0dec) | |
6010:11 | Value | Analog input date | INT16 | RO | 0x0000 (0dec) |
Index 7020 DO Outputs (EP3182-1002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
7020:0 | DO Outputs | Maximum subindex | UINT8 | RO | 0x02 (2dec) |
7020:01 | Digital output 1 |
| BOOLEAN | RO | 0x00 (0dec) |
7020:02 | Digital output 2 |
| BOOLEAN | RO | 0x00 (0dec) |
Index 800E AI Internal data Ch. 1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
800E:0 | AI internal data | Maximum subindex | UINT8 | RO | 0x01 (1dec) |
800E:01 | ADC raw value | Raw value of the analog/digital converter | INT16 | RO | 0x0000 (0dec) |
Index 800F AI Vendor data Ch. 1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
800F:0 | AI vendor data | Maximum subindex | UINT8 | RO | 0x06 (6dec) |
800F:01 | offsetU | Offset (vendor calibration) | INT16 | RW | 0x0000 (0dec) |
800F:02 | gainU | Gain (vendor calibration) | INT16 | RW | 0x4000 (16384dec) |
800F:03 | offsetI | Offset (vendor calibration) | INT16 | RW | 0x0000 (0dec) |
800F:04 | gainI | Gain (vendor calibration) | INT16 | RW | 0x4000 (16384dec) |
800F:05 | offsetI4 | Offset (vendor calibration) | INT16 | RW | 0x0000 (0dec) |
800F:06 | gainI4 | Gain (vendor calibration) | INT16 | RW | 0x4000 (16384dec) |
Index 801E AI Internal data Ch. 2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
801E:0 | AI Internal data Ch. 2 | Maximum subindex | UINT8 | RO | 0x01 (1dec) |
801E:01 | ADC raw value | Raw value of the analog/digital converter | INT16 | RO | 0x0000 (0dec) |
Index 801F AI Vendor data Ch. 2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
801F:0 | AI vendor data | Maximum subindex | UINT8 | RO | 0x06 (6dec) |
801F:01 | offsetU | Offset (vendor calibration) | INT16 | RW | 0x0000 (0dec) |
801F:02 | gainU | Gain (vendor calibration) | INT16 | RW | 0x4000 (16384dec) |
801F:03 | offsetI | Offset (vendor calibration) | INT16 | RW | 0x0000 (0dec) |
801F:04 | gainI | Gain (vendor calibration) | INT16 | RW | 0x4000 (16384dec) |
801F:05 | offsetI4 | Offset (vendor calibration) | INT16 | RW | 0x0000 (0dec) |
801F:06 | gainI4 | Gain (vendor calibration) | INT16 | RW | 0x4000 (16384dec) |
Index F000 Modular device profile
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F000:0 | Modular device profile | General information for the modular device profile | UINT8 | RO | 0x02 (2dec) |
F000:01 | Module index distance | Index distance of the objects of the individual channels | UINT16 | RO | 0x0010 (16dec) |
F000:02 | Maximum number of modules | Number of channels | UINT16 | RO | EP3162-0002: EP3182-1002: |
Index F008 Code word
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F008:0 | Code word | reserved | UINT32 | RW | 0x00000000 (0dec) |
Index F010 Module list (EP3162-0002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F010:0 | Module list | Maximum subindex | UINT8 | RW | 0x02 (2dec) |
F010:01 | SubIndex 001 |
| UINT32 | RW | 0x0000012C (300dec) |
F010:02 | SubIndex 002 |
| UINT32 | RW | 0x0000012C (300dec) |
Index F010 Module list (EP3182-1002)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F010:0 | Module list | Maximum subindex | UINT8 | RW | 0x03 (3dec) |
F010:01 | SubIndex 001 |
| UINT32 | RW | 0x0000012C (300dec) |
F010:02 | SubIndex 002 |
| UINT32 | RW | 0x0000012C (300dec) |
F010:03 | SubIndex 003 |
| UINT32 | RW | 0x000000C8 (200dec) |