Profile-specific objects (0x6000-0xFFFF)

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

Index 6000 Input Data

Index (hex)

Name

Meaning

Data type

Flags

Default

6000:0

Input Data

This object contains the DP output data of the DP slave (data are received by the DP master ). There is an entry in the object 0x6000 for each DP module with DP output data configured in object 0x8002. 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 the DP slave does not contain any DP output data, then object 0x6000 does not exist. SubIndex 0 contains the number of DP modules of the DP slave.

UINT8

RO

 

6000:01

 

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

OCTET-STRING

RO

 

...

 

 

 

 

 

6000:m

 

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

OCTET-STRING

RO

 

Index 7000 Output Data

Index (hex)

Name

Meaning

Data type

Flags

Default

7000:0

Output Data

This object contains the DP input data of the DP slave (data are sent to the DP master). There is an entry in object 0x7000 for each DP module with DP input data configured in object 0x8002. 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 the DP slave does not contain any DP input data, then object 0x7000 does not exist. SubIndex 0 contains the number of DP modules of the DP slave.

UINT8

RO

 

7000:01

 

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

OCTET-STRING

RO

 

...

 

 

 

 

 

7000:m

 

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

OCTET-STRING

RO

 

Index 8000 DP Slave Parameter Set Slave

Index (hex)

Name

Meaning

Data type

Flags

Default

8000:0

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 (51dec)

8000:01

Station Address

DP station address of the DP slave, permitted values: 0-125

UINT16

RW

 

8000:04

Device type

DP Ident Number of the DP slave

UINT32

RW

 

8000:1D

Network Flags

reserved for AMS via DP

UINT16

RW

0x0000 (0dec)

8000:1E

Network Port

reserved for AMS via DP

UINT16

RW

0x0000 (0dec)

8000:1F

Network Segment Address

reserved for AMS via DP

OCTET-STRING[6]

RW

{0}

8000:20

Sl_Flag

Sl_flag

UINT8

RW

0xA8 (168dec)

Bits 0-2

Reserve, must be 0

Bit 3

Reserve, must be 1

Bit 4

Reserve, must be 0

Bit 5

Reserve, must be 1

Bit 6

Reserve, must be 0

Bit 7

Reserve, must be 1

8000:21

Slave_Type

Reserve, must be 0

UINT8

RW

0x00 (0dec)

8000:22

Max_Diag_Data_Len

Reserve, must be 244

UINT8

RW

0xF4(244dec)

8000:23

Max_Alarm_Len

Reserve, must be 0

UINT8

RW

0x00 (0dec)

8000:24

Max_Channel_Data_Length

Reserve, must be 240

UINT8

RW

0xF0(240dec)

8000:25

Diag_Upd_Delay

Reserve, must be 0

UINT8

RW

0x00 (0dec)

8000:26

Alarm_Mode

Reserve, must be 0

UINT8

RW

0x00 (0dec)

8000:27

Add_Sl_Flag

Reserve, must be 1

UINT8

RW

0x01 (1dec)

8000:28

C1_Timeout

Reserve, must be 1000

UINT16

RW

0x03E8 (1000dec)

8000:29

Number of tolerated Data Exchange with no answer

Reserve, must be 0

UINT8

RW

0x00 (0dec)

8000:2A

Parallel AoE Services

Reserve, must be 5

UINT8

RW

0x05 (5dec)

8000:2B

Reaction on no answer

Reserve, must be 0

BIT1

RW

0x00 (0dec)

8000:2C

Restart behavior after DP fault

Reserve, must be 0

BIT1

RW

0x00 (0dec)

8000:2D

Master reaction after DP fault

Reserve, must be 0

BIT1

RW

0x00 (0dec)

8000:2E

Changes of DP Inputs after DP fault

0

Data of TxPDO n are set to 0

BIT1

RW

 

1

Data of TxPDO n remain unchanged

8000:2F

PKW supported

Reserve, must be 0

BOOLEAN

RW

FALSE

8000:30

FDL only

Reserve, must be 0

BOOLEAN

RW

FALSE

8000:31

Watchdog Base 1 ms

Reserve, must be 0

BOOLEAN

RW

FALSE

8000:33

Cycle Access Divider

Reserve, must be 0

UINT8

RW

0x00 (0dec)

8000:34

Cycle Access Modulo

Reserve, must be 0

UINT8

RW

0x00 (0dec)

8000:35

Vendor specific reserved

Reserve, must be 0

OCTET-STRING[25]

RW

{0}

Index 8002 DP CfgData Slave

Index (hex)

Name

Meaning

Data type

Flags

Default

8002:0

DP CfgData Slave

This object contains the DP Cfg Data of the DP slave.

OCTET-STRING[244]

RW

{0}

Index F000 Modular device profile

Index (hex)

Name

Meaning

Data type

Flags

Default

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2dec)

F000:01

Module index distance

Index distance 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 F100 DP Status

Index (hex)

Name

Meaning

Data type

Flags

Default

F100:0

DP Status

This object contains the DP status data, which are mapped into TxPDO 128 (Index 0x1A7F)

UINT8

RO

 

F100:01

DP Communication Status

0

Slave is exchanging data

UINT8

RO

 

128

Slave is ready for data exchange

129

Slave is waiting for the ChkCfg telegram

130

Slave is waiting for the SetPrm telegram

F100:0E

Sync Error

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

BOOLEAN

RO

 

F100:10

TxPDO State

this is set if the DP slave is not exchanging data

BOOLEAN

RO

 

F100:0F

TxPDO Toggle

this toggles if new DP outputs received by the DP master have been entered in the EtherCAT input buffer for the first time after an EtherCAT input update.

BOOLEAN

RO