Object description and parameterization

Object description and parameterization 1:

EtherCAT XML device description and configuration files

We recommend downloading the latest EtherCAT Device Description from the download area on the Beckhoff website and installing it according to the installation instructions.

Object description and parameterization 2:

Parameterization

The terminal is parameterized via the CoE Online tab (with a double-click on the respective object, see below).

Introduction

All objects necessary for the commissioning of the EL6652 and EL6652-0010 are configured by the TwinCAT system. Nothing needs to be set or changed in the objects.

Objects for commissioning

Index 1011 Restore default parameters

Index

Name

Meaning

Format

Flags

Default value

1011:0

Restore default parameters

Restore default parameters

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)

Complete overview

Standard objects

Index 1000 Device type

Index (hex)

Name

Meaning

Format

Flags

Default value

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

0x00001389 (5001dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Format

Flags

Default value

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL6652

Index 1009 Hardware version

Index (hex)

Name

Meaning

Format

Flags

Default value

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

variable

Index 100A Software version

Index (hex)

Name

Meaning

Format

Flags

Default value

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

variable

Index 1018 Identity

Index (hex)

Name

Meaning

Format

Flags

Default value

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

0x19FC3052 (43597842dec)

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

variable

Index 10F0 Backup parameter handling

Index (hex)

Name

Meaning

Format

Flags

Default value

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

variable

Index 1600 IO RxPDO-Map

Index

Name

Meaning

Format

Flags

Default value

1600:0

IO RxPDOPDO-Map

PDO Mapping RxPDO 1

UINT8

RO

0x02 (2dec)

1600:01

SubIndex 001

1. PDO Mapping entry (16 bits align)

UINT32

RO

0x7000:11, 16

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Format

Flags

Default value

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x05 (5dec)

1C13:01

SubIndex 001

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

UINT16

RW

0x1A00 (6656dec)

Index 1C32 SM output parameter

Index (hex)

Name

Meaning

Format

Flags

Default value

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: Master cycle time
  • DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x000186A0 (100000dec)

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: Synchronous 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 0x1C32:08)

UINT16

RO

0xC007 (49159dec)

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)

1C32:08

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, and 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0dec)

1C32:09

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

Format

Flags

Default value

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

as 0x1C32:02

UINT32

RW

0x000186A0 (100000dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0dec)

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

0xC007 (49159dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x000186A0 (100000dec)

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)

1C33:08

Command

as 0x1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

Delay time

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

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

as 0x1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 0x1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 0x1C32:32

BOOLEAN

RO

0x00 (0dec)

Profile-specific objects

The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

Index F000 Modular device profile

Index (hex)

Name

Meaning

Format

Flags

Default value

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2dec)

F000:01

Module index distance

Index spacing of the objects of the individual channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0005 (5dec)

Index F008 Code word

Index (hex)

Name

Meaning

Format

Flags

Default value

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index (hex)

Name

Meaning

Format

Flags

Default value

F010:0

Module list

Max. subindex

UINT8

RW

0x05 (5dec)

F010:01

SubIndex 001

-

UINT32

RW

0x00000320 (0800dec)