Profile-specific CoE objects
 | Reading of CoE objects 0x6000 and 0x7000 The data that are output during reading of CoE objects 0x6000 and 0x7000 are not the real process data. The actual data can only be read indirectly via PDO allocation. |
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default value |
|---|---|---|---|---|---|
|
6000:0 |
Input Data |
Declared input process data (dynamically created) |
UINT8 |
RO |
0x00 (0dec) |
|
6000:01 | |||||
|
… | |||||
|
6000:FF |
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default value |
|---|---|---|---|---|---|
|
7000:0 |
Output Data |
Declared output process data (dynamically created) |
UINT8 |
RO |
0x00 (0dec) |
|
7000:01 | |||||
|
… | |||||
|
7000:FF |
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default value | |||
|---|---|---|---|---|---|---|---|---|
|
F000:0 |
Modular device profile |
General information for the modular device profile |
UINT8 |
RO |
0x02 (2dec) | |||
|
F000:01 |
Module Index (hex) distance |
Index (hex) interval of the objects of the individual channels |
UINT16 |
RO |
0x0010 (16dec) | |||
|
F000:02 |
Maximum number of modules |
Number of channels |
UINT16 |
RO |
0x0001 (1dec) | |||
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default value |
|---|---|---|---|---|---|
|
F008:0 |
Code word |
currently reserved |
UINT32 |
RW |
0x00000000 (0dec) |
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default value |
|---|---|---|---|---|---|
|
F010:0 |
Module list |
Max. subIndex (hex) |
UINT8 |
RW |
0x01 (1dec) |
|
F010:01 |
SubIndex (hex) 001 |
- |
UINT32 |
RW |
0x00000000 (0dec) |
Currently 64 PDOs, 2 bit per Tx-PDO
bit 0 → 1=mapping present (p)
bit 1 → 1=mapping active (a)
|
Index (hex) |
Name | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
F630 |
Active TxPdo | |||||||||||||||
|
Mapping: |
a |
p |
a |
p |
a |
p |
a |
p |
a |
p |
a |
p |
a |
p |
a |
p |
|
0 |
0 | |||||||||||||||
|
1 |
1A07 |
1A06 |
1A05 |
1A04 |
1A03 |
1A02 |
1A01 |
1A00 | ||||||||
|
2 |
1A0F |
1A0E |
1A0D |
1A0C |
1A0B |
1A0A |
1A09 |
1A08 | ||||||||
|
3 |
1A17 |
1A16 |
1A15 |
1A14 |
1A13 |
1A12 |
1A11 |
1A10 | ||||||||
|
4 |
1A1F |
1A1E |
1A1D |
1A1C |
1A1B |
1A1A |
1A19 |
1A18 | ||||||||
|
… |
.. |
.. |
.. |
.. |
.. |
.. |
.. |
.. | ||||||||
|
8 |
1A3F |
1A3E |
1A3D |
1A3C |
1A3B |
1A3A |
1A39 |
1A38 | ||||||||
Index (hex) | Bit | Name | Meaning | Comment |
|---|---|---|---|---|
F800:0 | - | Device Config |
|
|
F800:01 | 0x8000 | AoE | 1 = protocol disabled |
|
| 0x4000 | EoE | ||
| 0x2000 | FoE | ||
| 0x1000 | SoE | ||
| 0x0800 | VoE | ||
| 0x0400 | other | ||
| 0x0200 | - |
| If 0, the system checks whether the MBX protocol ECAT-EEPROM is present |
| … |
|
|
|
| 0x0002 | - |
| Suppress error message |
| 0x0001 | - |
| 1: If not routed: error message suppressed |
| … |
|
|
|
0xF800:02 | 0x0100 | FoE Buffer | Enable |
|
| 0x2000 | Watchdog mode |
| The Watchdog of the EL6695 will be triggered via the AL event "Watchdog" as standard. By a single set of 0x2000 the WriteCycleCounter is used as trigger instead. This setting may be necessary when running under some EtherCAT masters. |
| 0x0002 | OP State | Deactivate dependence on other side | Deactivate dependence of the operating state on the secondary side (only device emulation) |
| 0x0001 | OP State | Deactivate dependence of the operating state on the primary side (only device emulation) | |
0xF800:03 | 0x2000 |
| SW Restart | Reboot during state change from Any to Init (A → I) |
| … |
|
|
|
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default value |
|---|---|---|---|---|---|
|
F820:0 |
ADS Server Settings |
Destination Net ID / Port |
Object |
RW |
0x02 (2dec) |
|
F820:01 |
Net ID |
Destination Net ID |
Array [0..5] |
RW |
0x00, .. |
|
F820:02 |
Port |
Destination Port |
UINT16 |
RW |
0x0000 |
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default value |
|---|---|---|---|---|---|
|
F821:0 |
EL6695 ADS Settings |
Source Net ID / Port |
Object |
RO |
0x02 (2dec) |
|
F821:01 |
Net ID |
Source Net ID |
Array [0..5] |
RO |
0x00, .. |
|
F821:02 |
Port |
Source Port |
UINT16 |
RO |
0x0000 |
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default value |
|---|---|---|---|---|---|
|
FA20:0 |
Device Diag |
Contains diagnostic information on status, CPU and heap load, information on sent data packets and internal copy time |
UINT16 |
RD |
0x1D (29dec) |
|
FA20:01 |
Status |
|
UINT16 |
RD |
|
|
FA20:02 |
CPU usage [%] |
|
UINT16 |
RD |
|
|
FA20:03 |
Heap Usage [%] |
|
UINT16 |
RD |
|
|
FA20:04 |
AOE Packets |
|
UINT16 |
RD |
|
|
FA20:05 |
EOE Packets |
|
UINT16 |
RD |
|
|
FA20:06 |
FOE Packets |
|
UINT16 |
RD |
|
|
FA20:07 |
SOE Packets |
|
UINT16 |
RD |
|
|
FA20:08 |
VOE Packets |
|
UINT16 |
RD |
|
|
FA20:09 |
Other Packets |
|
UINT16 |
RD |
|
|
FA20:0A |
Mbx Info |
|
UINT16 |
RD |
|
|
FA20:0B |
PD Copy time (my) |
Time in µs |
UINT16 |
RD |
|
|
FA20:0C |
PD Copy time (remote) |
UINT16 |
RD |
| |
|
FA20:0D.. |
Info 2 |
|
UINT16 |
RD |
|
|
FA20:1D |
Info 18 |
|
UINT16 |
RD |
|