Standard objects (0x1000-0x1FFF)

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

0x0C1D1389 (203232137_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL6731-0010

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

1011:0

Restore default parameters

Restore default parameters

UINT8

RO

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

1018:0

Identity

Information for identifying the slave

UINT8

RO

0x04 (4_dec)

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

0x00000002 (2_dec)

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

0x1A4B3052 (441135186_dec)

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

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

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

10F0:01

Checksum

Checksum of the Backup Parameter Storage (object 0x10F2, word 2-3)

UINT32

RO

10F2:0

Backup parameter storage

If this object is used, no StartUp SDOs may be transmitted in the PREOP state, since the Backup Parameter Storage contains the complete StartUp SDOs (see Configuration of the EL6731-0010 with Backup Parameter Storage). The EL6731-0010 is rebooted 5s after the flashing of the Backup Parameter Storage (switches to INIT with AL status code = 0x60). The data have the following meaning:

OCTET-STRING[n]

RW

Word-Offset

Description

0

Command: with 0xC0DE, the received data are stored in the flash memory

1

Length of the data from word offset 4 in bytes

2-3

Checksum, which is calculated locally

4

Index of the object of the 1^st StartUp SDO

5

len1: Length of the object of the 1^st StartUp SDO as CompleteAccess (from SubIndex 0) in bytes

6-n1

Data of the object of the 1^st StartUp SDO as CompleteAccess (n1 = 2*((len1+1)/2)+5)

n1+1

Index of the object of the 2^nd StartUp SDO

n1+2

len2: Length of the object of the 2^nd StartUp SDO as CompleteAccess (from SubIndex 0) in bytes

(n1+3)-n2

Data of the object of the 2^nd StartUp SDO as CompleteAccess (n2 = 2*((len2+1)/2)+n1+2)

...

m

Index of the object of the 3^rd StartUp SDO

m+1

len3: Length of the object of the 3^rd StartUp SDO as CompleteAccess (from SubIndex 0) in bytes

(m+2)-n3

Data of the object of the 3^rd StartUp SDO as CompleteAccess (n3 = 2*((len3+1)/2)+m+1)

1600:0

DPS RxPDO-Map Slave

This RxPDO contains the DP input data of the DP slave, which are sent to the DP master. There is an entry in the RxPDO mapping object 0x1600 for each DP module with DP input data configured in object 0x8002. If the DP slave does not contain any DP input data, then the PDO mapping object 0x1600 does not exist. This PDO is mandatory and must always be contained in the PDO Assign object 0x1C12 . SubIndex 0 contains the number of DP modules with DP input data of the DP slave.

UINT8

RO

1600:01

first DP module with DP input data of the DP slave

UINT32

RO

...

..

1600:m

last DP module with DP input data of the DP slave

UINT32

RO

187F:0

TxPDO-Par Status PDO

PDO parameter TxPDO 129

UINT8

RO

0x06 (6_dec)

187F:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 128

OCTET-STRING[10]

RO

80 1A 00 00 00 00 00 00 00 00

187F:07

TxPDO State

The TxPDO state is set if the DP slave is not exchanging data

BOOLEAN

RO

187F:09

TxPDO Toggle

The TxPDO toggle becomes

BOOLEAN

RO

1A00:0

DPS TxPDO-Map Slave

This TxPDO contains the DP output data of the DP slave that were received by the DP master. There is an entry in the TxPDO mapping object 0x1A00 for each DP module with DP output data configured in object 0x8002. If the DP slave does not contain any DP output data, then the PDO mapping object 0x1A00 does not exist. This PDO is mandatory and must always be contained in the PDO Assign object 0x1C13 . SubIndex 0 contains the number of DP modules with DP output data of the DP slave.

UINT8

RO

1A00:01

first DP module with DP output data of the DP slave

UINT32

RO

...

..

1A00:m

last DP module with DP output data of the DP slave

UINT32

RO

1A7F:0

TxPDO-Map Status PDO

This PDO contains the status information of the DP slave (object 0xF100)

UINT8

RO

4

1A7F:01

1^st PDO Mapping entry (object 0xF100 (DP Status), entry 0x01 (DP Communication Status))

UINT32

RO

0xF100:01, 08

1A7F:02

2^nd PDO Mapping entry (6 Bit Align)

UINT32

RO

0x0000:00, 06

1A7F:03

3^rd PDO Mapping entry (object 0xF100 (DP Status), entry 0x0F (TxPDO State))

UINT32

RO

0xF100:0F, 01

1A7F:04

4^th PDO Mapping entry (object 0x1800 (TxPDO-Par Status PDO), entry 0x09 (TxPDO Toggle))

UINT32

RO

0x1800:09, 01

1C00:0

Sync manager type

Using the sync managers

UINT8

RO

0x04 (4_dec)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1_dec)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2_dec)

1C00:03

SubIndex 003

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

UINT8

RO

0x03 (3_dec)

1C00:04

SubIndex 004

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

UINT8

RO

0x04 (4_dec)

1C12:0

RxPDO assign

PDO Assign Outputs: if the DP slave has DP inputs that are sent to the DP master, then the RxPDO Assign contains the RxPDO 0x1600, otherwise it is empty (SubIndex 0 = 0)

UINT8

RW

0x01 (1_dec)

1C12:01

1^st assigned RxPDO (index 0x1600)

UINT16

RW

0x1600 (5632_dec)

1C13:0

TxPDO assign

PDO Assign Inputs: if the DP slave has DP outputs that are received by the DP master, then the TxPDO Assign contains the TxPDOs 0x1A00 and 0x1A7F, otherwise only the TxPDO 0x1A7F

UINT8

RW

0x02 (2_dec)

1C13:01

1^st assigned TxPDO (index 0x1A00)

UINT16

RW

0x1A00 (6656_dec)

1C13:02

2^nd assigned TxPDO (index 0x1A7F)

UINT16

RW

0x1A7F (6783_dec)

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

0x20 (32_dec)

1C32:01

Sync mode

Current synchronization mode:

• 0: Free Run

UINT16

RW

0x0000 (0_dec)

1C32:02

Cycle time

Cycle time (in ns):

• Cycle time of the EtherCAT master

UINT32

RW

0x000F4240 (1000000_dec)

1C32:03

Shift time

not supported

UINT32

RO

0x00000000 (0_dec)

1C32:04

Sync modes supported

Supported synchronization modes:

• Bit 1 = 1: Synchron with SM 2 event is supported
• Bit 2-3 = 01: DC mode is supported
• Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08)

UINT16

RO

0x0001 (1_dec)

1C32:05

Minimum cycle time

not supported

UINT32

RO

0x00000000 (0_dec)

1C32:06

Calc and copy time

not supported

UINT32

RO

0x00000000 (0_dec)

1C32:08

Command

not supported

UINT16

RW

0x0000 (0_dec)

1C32:09

Delay time

not supported

UINT32

RO

0x00000000 (0_dec)

1C32:0B

SM event missed counter

not supported

UINT16

RO

0x0000 (0_dec)

1C32:0C

Cycle exceeded counter

not supported

UINT16

RO

0x0000 (0_dec)

1C32:0D

Shift too short counter

not supported

UINT16

RO

0x0000 (0_dec)

1C32:20

Sync error

not supported

BOOLEAN

RO

FALSE

1C33:0

SM input parameter

Synchronization parameters for the inputs (as for 0x1C32)

UINT8

RO

0x20 (32_dec)

1C33:01

Sync mode

as 0x1C32:01

UINT16

RO

0x0000 (0_dec)

...

1C33:20

Sync error

as 0x1C32:32

BOOLEAN

RO

0x00 (0_dec)