Terminal-specific CoE objects

Terminal-specific CoE objects

The terminal-specific CoE objects of the EL6695 bridge terminal start from index (hex) 0x10F4. The objects 0x10F4 and 0x10F5 contain the status and the settings for the external synchronization.

Index (hex)

Name

Meaning

Data type

Flags

Default value

10F4:0

External synchronization status

Information about the synchronization status

UINT8

RO

0x13
(19dec)

10F4:01

Sync Mode

Synchronization mode
0 = no synchronization
1 = secondary side is Sync Master
2 = primary side is Sync Master

3 = both sides are SyncMaster - this state is not allowed and should be changed by appropriate EtherCAT Master settings by activating PDO Timestamp Mapping on one side only.

BIT2

RO P

0x00
(0dec)

10F4:0E

Control value update toggle

Bit toggles when a new control value is available

BOOLEAN

RO P

0x00
(0dec)

10F4:0F

Time stamp update toggle

Bit toggles when new DC data were supplied

BOOLEAN

RO P

0x00
(0dec)

10F4:10

External device not connected

0 = other side is connected to its EtherCAT fieldbus

1 = other side is not connected to its EtherCAT fieldbus

BOOLEAN

RO P

0x00
(0dec)

10F4:11

Internal time stamp

Distributed clocks time on the current side

UINT64

RO P

-

10F4:12

External time stamp

Distributed clocks time on the other side (remote side)

UINT64

RO P

-

10F4:13

Control Value for DC Master Clock

Offset for correction of the lower priority reference clock

INT32

RO P

0x00000000 (0dec)

Index (hex)

Name

Meaning

Data type

Flags

Default value

10F5:0

External synchronization settings

Setting for synchronizing the EtherCAT bridge

UINT8

RO

0x12 (18dec)

10F5:01

Sync master

0: Sync Master is on the primary side
1: Sync Master is on the secondary side

BOOLEAN

RW
(PREOP)

0x00 (0dec)

10F5:02

32 Bit time stamps

0:  64-bit Timestamps
1:  32-bit Timestamps

BOOLEAN

RW

0x00 (0dec)

10F5:11

Control Interval (ms)

Interval in ms for calculating the control value

UINT16

RW

0x0000 (0dec)

10F5:12

Additional System Time

Additional DC time for calculating the control value

UINT64

RW

0x0000000000000000
(0dec)

Index (hex)

Name

Meaning

Data type

Flags

Default value

1608:0

RxPDO-Map

-

PDO mapping RxPDO 1 (PDO mapping of the declared output process data)

-

UINT8

-

RW

-

0x00 (0dec)

-

..1608:FF

…161F:00…

161F:FF

Index (hex)

Name

Meaning

Data type

Flags

Default value

1801:0

TxPDO-Par External Sync Compact

PDO parameter TxPDO 2

UINT8

RO

0x09 (9dec)

1801:06

Exclude TxPDOs

Specifies the TxPDOs (index (hex) of TxPDO mapping objects) that must not be transferred together with TxPDO 2

OCTET-STRING[4]

RO

02 1A 03 1A

1801:07

TxPDO State

The TxPDO state is set if it was not possible to correctly read in the associated input data

BOOLEAN

RO P

0x00 (0dec)

1801:09

TxPDO Toggle

The TxPDO toggle is toggled with each update the corresponding input data

BOOLEAN

RO P

0x00 (0dec)

Index (hex)

Name

Meaning

Data type

Flags

Default value

1802:0

TxPDO-Par External Sync

PDO parameter TxPDO 3

UINT8

RO

0x09 (9dec)

1802:06

Exclude TxPDOs

Specifies the TxPDOs (index (hex) of TxPDO mapping objects) that must not be transferred together with TxPDO 3

OCTET-STRING[4]

RO

01 1A 03 1A

1802:07

TxPDO State

The TxPDO state is set if it was not possible to correctly read in the associated input data

BOOLEAN

RO P

0x00 (0dec)

1802:09

TxPDO Toggle

The TxPDO toggle is toggled with each update the corresponding input data

BOOLEAN

RO P

0x00 (0dec)

Index (hex)

Name

Meaning

Data type

Flags

Default value

1803:0

TxPDO-Par External Sync (32 Bit)

PDO parameter TxPDO 4

UINT8

RO

0x09 (9dec)

1803:06

Exclude TxPDOs

Specifies the TxPDOs (index (hex) of TxPDO mapping objects) that must not be transferred together with TxPDO 4

OCTET-STRING[4]

RO

01 1A 02 1A

1803:07

TxPDO State

The TxPDO state is set if it was not possible to correctly read in the associated input data

BOOLEAN

RO P

0x00 (0dec)

1803:09

TxPDO Toggle

The TxPDO toggle is toggled with each update the corresponding input data

BOOLEAN

RO P

0x00 (0dec)

Index (hex)

Name

Meaning

Data type

Flags

Default value

1A01:0

TxPDO-Map External Sync Compact

PDO Mapping TxPDO 1

UINT8

RW

0x05 (5dec)

1A01:01

SubIndex (hex) 001

12 bit align

UINT32

RW

0x0000:00, 12

1A01:02

SubIndex (hex) 002

PDO Mapping entry (object 0x1801, entry 0x09)

UINT32

RW

0x1801:09, 1

1A01:03

SubIndex (hex) 003

PDO Mapping entry (object 0x1801, entry 0x07)

UINT32

RW

0x1801:07, 1

1A01:04

SubIndex (hex) 004

1 bit align

UINT32

RW

0x0000:00, 1

1A01:05

SubIndex (hex) 005

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x10)

UINT32

RW

0x10F4:10, 1

Index (hex)

Name

Meaning

Data type

Flags

Default value

1A02:0

TxPDO-Map External Sync

PDO Mapping TxPDO 2

UINT8

RW

0x09 (9dec)

1A02:01

SubIndex (hex) 001

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x02)

UINT32

RW

0x10F4:01, 2

1A02:02

SubIndex (hex) 002

10 bit align

UINT32

RW

0x0000:00, 10

1A02:03

SubIndex (hex) 003

PDO Mapping entry (object 0x1802, entry 0x09)

UINT32

RW

0x1802:09, 1

1A02:04

SubIndex (hex) 004

PDO Mapping entry (object 0x1802, entry 0x07)

UINT32

RW

0x1802:07, 1

1A02:05

SubIndex (hex) 005

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x0F (Time stamp update toggle))

UINT32

RW

0x10F4:0F, 1

1A02:06

SubIndex (hex) 006

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x10 (External device not connected))

UINT32

RW

0x10F4:10, 1

1A02:07

SubIndex (hex) 007

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x11 (Internal time stamp))

UINT32

RW

0x10F4:11, 64

1A02:08

SubIndex (hex) 008

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x12 (External time stamp))

UINT32

RW

0x10F4:12, 64

1A02:09

SubIndex (hex) 009

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x13 (Reserved))

UINT32

RW

0x10F4:13, 32

Index (hex)

Name

Meaning

Data type

Flags

Default value

1A03:0

TxPDO-Map External Sync

PDO Mapping TxPDO 3

UINT8

RW

0x09 (9dec)

1A03:01

SubIndex (hex) 001

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x02)

UINT32

RW

0x10F4:01, 2

1A03:02

SubIndex (hex) 002

10 bit align

UINT32

RW

0x0000:00, 10

1A03:03

SubIndex (hex) 003

PDO Mapping entry (object 0x1803, entry 0x09)

UINT32

RW

0x1803:09, 1

1A03:04

SubIndex (hex) 004

PDO Mapping entry (object 0x1803, entry 0x07)

UINT32

RW

0x1803:07, 1

1A03:05

SubIndex (hex) 005

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x0F (Time stamp update toggle))

UINT32

RW

0x10F4:0F, 1

1A03:06

SubIndex (hex) 006

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x10 (External device not connected))

UINT32

RW

0x10F4:10, 1

1A03:07

SubIndex (hex) 007

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x11 (Internal time stamp))

UINT32

RW

0x10F4:11, 32

1A03:08

SubIndex (hex) 008

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x12 (External time stamp))

UINT32

RW

0x10F4:12, 32

1A03:09

SubIndex (hex) 009

PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x13 (Reserved))

UINT32

RW

0x10F4:13, 32

Index (hex)

Name

Meaning

Data type

Flags

Default value

1A04:0

Active TxPDOs-Map

PDO Mapping TxPDO 4

UINT32

RW

0x05 (5dec)

1A04:01

SubIndex (hex) 01

PDO Mapping entry (object 0xF640:01(Remote Write Cycles u16Count))

UINT32

RW

10 01 40 F6

1A04:02

SubIndex (hex) 02

PDO Mapping entry (object 0xF630:01 Active TxPdo Info PDO 1-8)

UINT32

RW

10 01 30 F6

1A04:03

SubIndex (hex) 03

PDO Mapping entry (object 0xF630:02 Active TxPdo Info PDO 9-16)

UINT32

RW

10 02 30 F6

1A04:04

SubIndex (hex) 04

PDO Mapping entry (object 0xF630:03 Active TxPdo Info PDO 17-24)

UINT32

RW

10 03 30 F6

1A04:05

SubIndex (hex) 05

PDO Mapping entry (object 0xF630:04 Active TxPdo Info PDO 25-32)

UINT32

RW

10 04 30 F6

Index (hex)

Name

Meaning

Data type

Flags

Default value

1A05:0

FoE Info-Map

PDO Mapping TxPDO 5

UINT8

RW

0x01 (1dec)

1A05:01

 

PDO Mapping entry (object 0xF650:01 Active TxPdo Info PDO 25-32)

UINT32

RW

10 01 50 F6

Index (hex)

Name

Meaning

Data type

Flags

Default value

1A08:0

TxPDO-Map

-

PDO mapping TxPDO 1 (PDO mapping of the declared input process data)

-

UINT8

-

RW

-

0x00 (0dec)

-

..1A08:FF

…1A1F:00…

1A1F:FF

Index (hex)

Name

Meaning

Data type

Flags

Default value

1C00:0

Sync­manager type

Sync-Manager Type Channels (Mailbox/ Process Data, Read/ Write)

UINT8

RO

0x04 (4dec)

1C00:01

SubIndex (hex) 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1dec)

1C00:02

SubIndex (hex) 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2dec)

1C00:03

SubIndex (hex) 003

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

UINT8

RO

0x03 (3dec)

1C00:04

SubIndex (hex) 004

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

UINT8

RO

0x04 (4dec)

Index (hex)

Name

Meaning

Data type

Flags

Default value

1C12:0

RxPDO assign

PDO Assign Outputs
(from FW09: 62 instead of 9)

UINT8

RW

0x00 (0dec)

1C12:01

SubIndex (hex) 001

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

UINT16

RW

0x0000 (0dec)

Index (hex)

Name

Meaning

Data type

Flags

Default value

1C13:0

TxPDO assign

PDO Assign Inputs
(from FW09: 62 instead of 9)

UINT8

RW

0x01 (1dec)

1C13:01

SubIndex (hex) 001

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

UINT16

RW

0x1A01 (6657dec)

1C13:02

SubIndex (hex) 002

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

UINT16

RW

0x0000 (0dec)

Index (hex)

Name

Meaning

Data type

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

0x00000000 (0dec)

1C32:03

Shift time

Time between SYNC0 event and output of the outputs (in ns, DC mode only)

UINT32

RW

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 1C32:08)

UINT16

RO

0xC007 (49159dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0dec)

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 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 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

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 (hex)

Name

Meaning

Data type

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 1C32:02

UINT32

RW

0x00000000 (0dec)

1C33:03

Shift time

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

UINT32

RW

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 1C32:08 or 1C33:08)

UINT16

RO

0xC007 (49159dec)

1C33:05

Minimum cycle time

as 1C32:05

UINT32

RO

0x00000000 (0dec)

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 1C32:08

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

0x00000000 (0dec)

1C33:0B

SM event missed counter

as 1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 1C32:32

BOOLEAN

RO

0x00 (0dec)