Profile-specific objects (0x6000-0xFFFF)

6000+n*16:0

DP Inputs Slave yyy

This object exists for each configured DP slave and contains the DP input data of the DP slave. There is an entry in the input data object 0x6000+(n*16) for each DP module with DP input data configured in object 0x8002+(n*16). DP module m thereby corresponds to SubIndex m; if a DP module does not contain any DP input data, then this SubIndex does not exist. If a DP slave does not contain any DP input data, then object 0x6000+(n*16) does not exist. SubIndex 0 contains the number of DP modules of the (n+1)^th configured DP slave.

UINT8

RO

(6000+n*16):01

if the first DP module has DP input data: DP input data of the first DP module

OCTET-STRING

RO

...

(6000+n*16):m

if the m^th DP module has DP input data: DP input data of the m^th DP module

OCTET-STRING

RO

7000+n*16:0

DP Outputs Slave yyy

This object exists for each configured DP slave and contains the DP output data of the DP slave. There is an entry in the input data object 0x7000+(n*16) for each DP module with DP output data configured in object 0x8002+(n*16). DP module m thereby corresponds to SubIndex m; if a DP module does not contain any DP output data, then this SubIndex does not exist. If a DP slave does not contain any DP output data, then object 0x7000+(n*16) does not exist. SubIndex 0 contains the number of DP modules of the (n+1)^th configured DP slave.

UINT8

RO

(7000+n*16):01

if the first DP module has DP output data: DP output data of the first DP module

OCTET-STRING

RO

...

(7000+n*16):F4

if the m^th DP module has DP output data: DP output data of the m^th DP module

OCTET-STRING

RO

8000+n*16:0

DP Slave Parameter Set Slave yyy

This object contains the DP configuration of the (n+1)^th configured DP slave (0 <= n <125). The object is to be transmitted with Complete Access, or SubIndex 0 must first be set to 0, then the individual SubIndexes transmitted (non-existent SubIndexes or gaps are thereby to be omitted) and finally SubIndex 0 set to the correct value.

UINT8

RW

0x33 (51_dec)

(8000+n*16):01

Station Address

DP station address of the DP slave, permitted values: 0-125, the entry 0xF020:(n+1) is automatically updated with this

UINT16

RW

0x0000 (0_dec)

(8000+n*16):04

Device type

DP Ident Number of the DP slave

UINT32

RW

0x00000000 (0_dec)

(8000+n*16):1D

Network Flags

reserved for AMS via DP

UINT16

RW

0x0000 (0_dec)

(8000+n*16):1E

Network Port

reserved for AMS via DP

UINT16

RW

0x0000 (0_dec)

(8000+n*16):1F

Network Segment Address

reserved for AMS via DP

OCTET-STRING[6]

RW

{0}

(8000+n*16):20

Sl_Flag

Sl_flag

UINT8

RW

0x80 (128_dec)

Bits 0-2

Reserve, must be 0

Bit 3

Activate DPV1 communication for DP slave

Bit 4

Data exchange telegram is sent as a DXB Broadcast

Bit 5

FailSafe function (send data exchange without data in the CLEAR (SAFE-OP) state) is active

Bit 6

Reserve, must be 0

Bit 7

Reserve, must be 1

(8000+n*16):21

Slave_Type

Reserve, must be 0

UINT8

RW

0x00 (0_dec)

(8000+n*16):22

Max_Diag_Data_Len

maximum length of the DP DiagData of the DP slave (6 <= Max_Diag_Data_Len <= 244)

UINT8

RW

(8000+n*16):23

Max_Alarm_Len

Reserve, must be 0

UINT8

RW

0x00 (0_dec)

(8000+n*16):24

Max_Channel_Data_Length

maximum length of the DPV1 telegram of the DP slave (4 <= Max_Channel_Data_Length <= 244)

UINT8

RW

(8000+n*16):25

Diag_Upd_Delay

Reserve, must be 0

UINT8

RW

0x00 (0_dec)

(8000+n*16):26

Alarm_Mode

Reserve, must be 0

UINT8

RW

0x00 (0_dec)

(8000+n*16):27

Add_Sl_Flag

Reserve, must be 1

UINT8

RW

0x01 (1_dec)

(8000+n*16):28

C1_Timeout

Timeout during waiting for a DPV1 response (in 10 ms)

UINT16

RW

(8000+n*16):29

Number of tolerated Data Exchange with no answer

Reserve, must be 0

UINT8

RW

0x00 (0_dec)

(8000+n*16):2A

Parallel AoE Services

Number of parallel AoE services (e.g. for DPV1); the value 0 corresponds to 5 parallel services

UINT8

RW

0x00 (0_dec)

(8000+n*16):2B

Reaction on no answer

0

Data exchange is quit

BIT1

RW

0x00 (0_dec)

1

DP slave remains in Data Exchange if a valid Data Exchange response is received within the DP watchdog time

(8000+n*16):2C

Restart behavior after DP fault

0

DP slave is automatically restarted (Set_Prm-Unlock, then Slave_Diag, Set_Prm-Lock, Chk_Cfg, Slave_Diag)

BIT1

RW

0x00 (0_dec) 

1

The DP slave must be manually restarted via AoE

(8000+n*16):2D

Master reaction after DP fault

0

no response

BIT1

RW

0x00 (0_dec)

1

Data exchange with all DP slaves is stopped (Set_Prm-Unlock to all slaves); DP communication must be restarted via AoE

(8000+n*16):2E

Changes of DP Inputs after DP fault

0

Data of TxPDO n are set to 0

BIT1

RW

0x00 (0_dec)

1

Data of TxPDO n remain unchanged

(8000+n*16):2F

PKW supported

Reserve, must be 0

BOOLEAN

RW

0x00 (0_dec)

(8000+n*16):30

FDL only

Reserve, must be 0

BOOLEAN

RW

0x00 (0_dec)

(8000+n*16):31

Watchdog Base 1 ms

FALSE

The basis for the DP watchdog is 10 ms

BOOLEAN

RW

0x00 (0_dec)

TRUE

The basis for the DP watchdog is 1 ms

(8000+n*16):33

Cycle Access Divider

Reserve, must be 1

UINT8

RW

0x01 (1_dec)

(8000+n*16):34

Cycle Access Modulo

Reserve, must be 0

UINT8

RW

0x00 (0_dec)

(8000+n*16):35

Vendor specific reserved

Reserve, must be 0

OCTET-STRING[25]

RW

{0}

8001+n*16:0

DP PrmData Slave yyy

This object contains the DP Prm Data of the (n+1)^th configured DP slave.

OCTET-STRING[244]

RW

{0}

8002+n*16:0

DP CfgData Slave yyy

This object contains the DP Cfg Data of the (n+1)^th configured DP slave.

OCTET-STRING[244]

RW

{0}

A000+n*16:0

DP Status data Slave.000

This object contains the status data of the (n+1)^th configured DP slave.

UINT8

RO

0x04 (4_dec)

(A000+n*16):01

DP state

State of the DP connection (identical to entry 0xF102:(n+1))

UINT8

RO

0x00 (0_dec)

(A000+n*16):02

Ext Diag

This entry indicates whether the diagnostic information in object 0xA002+(n*16) has changed

BOOLEAN

RO

0x00 (0_dec)

(A000+n*16):03

Repeat Counter

This entry increments on each repeat telegram to the DP slave

UINT32

RO

0x00000000 (0_dec)

(A000+n*16):04

No Answer Counter

This entry increments on each telegram to the DP slave to which no response is received

UINT32

RO

0x00000000 (0_dec)

A002+n*16:0

DP Diag data Slave.000

This object contains the DP DiagData of the (n+1)^th configured DP slave.

OCTET-STRING[244]

RO

{0}

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2_dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x007D (125_dec)

F000:03

General Configuration Entries

General configuration entries

UINT32

RO

0x70000009 (1879048201_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Max. subindex

UINT8

RW

0x00 (0_dec)

F010:01

reserved

...

reserved

F010:7D

reserved

F101:0

DP Master Status data

This object contains the DP master status data, which are mapped into TxPDO 134 (Index 0x1A85)

UINT8

RO

0x17 (23_dec)

F101:01

Bus Error Counter

increments on each bus error

UINT16

RO

0x0000 (0_dec)

F101:02

Cycle Counter

increments on each DP cycle

UINT16

RO

0x0000 (0_dec)

F101:03

Slave Status Counter

Number of DP slaves that were not exchanging data in the preceding cycle

UINT16

RO

0x0000 (0_dec)

F101:04

Cycle Time

Cycle time of the preceding DP cycle in 1/9 µs

UINT16

RO

0x0000 (0_dec)

F101:05

Repeat Counter

Number of repeats in the preceding DP cycle

UINT16

RO

0x0000 (0_dec)

F101:14

Device Diag

indicates whether diagnostic information is present in the master that can be collected via AoE

BOOLEAN

RO

0x00 (0_dec)

F101:15

Sync Error

this is set if a synchronization error occurred in the preceding cycle in Distributed Clocks mode

BOOLEAN

RO

0x00 (0_dec)

F101:16

Cycle Toggle

toggles on each DP cycle

BOOLEAN

RO

0x00 (0_dec)

F101:17

Cycle State

this is set if at least one DP slave is not exchanging data

BOOLEAN

RO

0x00 (0_dec)

F102:0

DP Slave Status data

This object contains the status of communication to the DP slaves that is mapped to TxPDO 133 (index 0x1A84)

UINT8

RO

F102:01

Communication status of the first configured DP slave (in the objects 0x8000, 0x8001, 0x8002)

UINT8

RO

0

Slave is exchanging data; DP inputs are up to date

1

Slave is deactivated (via AoE)

2

Slave does not respond

3

slave currently exchanging data with another master

4

incorrect slave response (e.g. service not activated in the case of data exchange)

5

Slave reports parameterization error (error in the SetPrm telegram (usually Ident-Number or UserPrmData))

6

Slave reports that a DP function is not supported

7

Slave reports configuration error 8 - error in the ChkCfg telegram (usually incorrect DP module configured))

8

Slave is in DP bootup but is not yet ready for data exchange

9

Slave reports static diagnosis

11

Response with bus error (e.g. parity or checksum error)

14

Response with telegram error (e.g. request bit set)

15

Slave reports no resources (e.g. PrmData or CfgData is too long)

16

Slave reports that the DP service is not activated

17

Unexpected telegram received (e.g. token when waiting for a response from a slave)

18

Slave is ready for data exchange; however, no process data are exchanged over EtherCAT as yet

...

F102:7D

Communication status of the mth configured DP slave

UINT8

RO

F10F:0

Cycle Statistic data

This object contains the measured times of the respective last cycle. They can be transferred cyclically with TxPDO 135 (0x1A86) or TxPDO 136 (0x1A87) and they then always contain the values for the preceding cycle.

UINT8

RO

0x08 (8_dec)

F10F:01

Multiplier

The entries 0xF10F:03, 0xF10F:04, 0xF10F:05 and 0xF10F:06 must be multiplied by this value in order to convert these entries into the unit 100 ns

UINT16

RO

0x0000 (0_dec)

F10F:02

Divider

The entries 0xF10F:03, 0xF10F:04, 0xF10F:05 and 0xF10F:06 must be divided by this value in order to convert these entries into the unit 100 ns

UINT16

RO

0x0000 (0_dec)

F10F:03

Cycle Time

Cycle time (0x1C32:05) of the preceding DP cycle in local ticks

UINT16

RO

0x0000 (0_dec)

F10F:04

Cycle Distance Time

Distance between the last two SM2 events (only if 0x1C32:01 = 1 or 0x1C32:01 = 2)

UINT16

RO

0x0000 (0_dec)

F10F:05

Output Calc And Copy Time

Output Calc And Copy Time (0x1C32:06) of the preceding DP cycle in local ticks

UINT16

RO

0x0000 (0_dec)

F10F:06

Input Calc And Copy Time

Input Calc And Copy Time (0x1C33:06) of the preceding DP cycle in local ticks

UINT16

RO

0x0000 (0_dec)

F10F:07

Output Delay Time

Output Delay Time (0x1C32:09) of the preceding cycle in ns

UINT32

RO

0x00000000 (0_dec)

F10F:08

SM/SYNC Event Distance Time

SM/SYNC0 Event Distance Time (distance between SM2 and SYNC0 event) of the preceding cycle in ns (must be activated via register 0x816 in the ET1100).

INT32

RO

0x00000000 (0_dec)

F800:0

DP Bus Parameter Set

This object contains the DP bus parameters. The object is to be transmitted with Complete Access, or SubIndex 0 must first be set to 0, then the individual SubIndexes transmitted (non-existent SubIndexes or gaps are thereby to be omitted) and finally SubIndex 0 set to the correct value.

UINT8

RW

0x18 (24_dec)

F800:01

DL_Add

DP-Master station address

UINT8

RW

0x00 (0_dec)

F800:02

Data_rate

Baud rate

UINT8

RW

0x00 (0_dec)

0

9.6 kbaud

1

19.2 kbaud

2

93.75 kbaud

3

187.5 kbaud

4

500 kbaud

6

1.5 Mbaud

7

3 Mbaud

8

6 Mbaud

9

12 Mbaud

F800:03

Tsl

Slot time in bit times

UINT16

RW

*

F800:04

min Tsdr

Min. TSDR in bit times

UINT16

RW

0x0B (11_dec)

F800:05

max Tsdr

Max. TSDR in bit times

UINT16

RW

*

F800:06

Tqui

Quiet Time in bit times

UINT8

RW

*

F800:07

Tset

Setup Time in bit times

UINT8

RW

*

F800:08

Ttr

Target Token Rotation Time in bit times

UINT32

RW

*

F800:09

G

GAP Update Factor (1-100)

UINT8

RW

0x64 (100_dec)

F800:0A

HSA

Highest master address (0-126)

UINT8

RW

0x7E (126_dec)

F800:0B

max_retry_limit

Maximum number of repeats (1-8)

UINT8

RW

*

F800:0C

Bp_Flag

Bit 0

Single master operation (no GAP update is sent)

UINT8

RW

0x00 (0_dec)

Bits 1-6

Reserve, must be 0

Bit 8

Auto-Clear mode is on (DP master goes to CLEAR if a DP slave is not exchanging data)

F800:0D

Min_Slave_Interval

Cycle time for DP telegrams (except data exchange (runs synchronously to the EtherCAT master))

UINT16

RW

*

F800:0E

Poll_Timeout

Reserve, must be 0

UINT16

RW

0x0000 (0_dec)

F800:0F

Data_Control_Time

Cycle time of the Global_Control telegram

UINT16

RW

*

F800:10

Alarm_Max

Reserve, must be 0

UINT8

RW

0x00 (0_dec)

F800:11

Max_User_Global_control

Reserve, must be 0

UINT8

RW

0x00 (0_dec)

F800:12

Max Retry Limit (Data-Exchange)

Maximum number of data exchange repeats

BIT4

RW

*

F800:13

Send Set-Prm-Unlock

Reserve, must be 0

BIT2

RW

0x00 (0_dec)

F800:14

Auto Clear Mode

Reserve, must be 0

BIT2

RW

0x00 (0_dec)

F800:15

Operate Delay (in 100 ms)

Automatic switching to OPERATE in the OP state is delayed according to this setting

UINT8

RW

0x00 (0_dec)

F800:16

Safety Time (in us)

Reserve, must be 0

UINT16

RW

0x0000 (0_dec)

F800:17

Flags

Reserve, must be 0

UINT16

RW

0x0000 (0_dec)

F800:18

Watchdog Reaction

0

DP Master in CLEAR Mode

OCTET-STRING[26]

RW

{0}

1

DP Master in OPERATE Mode

2

DP Master in STOP Mode

F800:1A

Vendor specific

Reserve, must be 0

OCTET-STRING[26]

RW

F920:0

AoE Settings

Max. subindex

UINT8

RO

0x01 (1_dec)

F920:01

Local AoE Net ID

Local AoE Net ID

OCTET-STRING[6]

RO

{0}

9 (12 Mbaud)

1000

800

9

16

12000

4

10

1

4

8 (6 Mbaud)

600

450

6

8

12000

3

20

2

3

7 (3 Mbaud)

400

250

3

4

12000

2

40

4

2

6 (1.5 Mbaud)

300

150

0

1

12000

1

80

8

1

4 (500 kbaud)

200

100

0

1

12000

1

200

20

1

3 (187.5 kbaud)

150

100

0

1

12000

1

400

40

1

2 (93.75 kbaud)

150

100

0

1

12000

1

800

80

1

1 (19.2 kbaud)

150

100

0

1

12000

1

4000

400

1

0 (9.6 kbaud)

150

100

0

1

12000

1

8000

800

1