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

0x00001389 (5001_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL6751

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

1010:0

Store parameters

Save the CANopen configuration after scanning the CAN bus with entry 0xF002:01

UINT8

RO

1010:01

SubIndex 001

If you set this entry to ‘0x65766173’, the Backup Parameter Storage (object 0x10F2) is generated from the InfoData 0x9yyz.

UINT32

RW

1011:0

Restore default parameters

Restore default parameters

UINT8

RO

1011:01

SubIndex 001

If you set this entry to ‘0x64616F6C’, all backup objects are reset to the 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

0x1A5F3052 (442445906_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

0x00100000 (1048576_dec)

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

0x00000000 (0_dec)

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 EL6751 with Backup Parameter Storage). The EL6751 is rebooted 5 s 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+n:0

RxPDO-Map Node yyy

For each configured CANopen slave there is one RxPDO, which contains all CAN RxPDOs of the CANopen slave. The CAN RxPDOs written in object 0x8008+ (n*16) are located in the RxPDO mapping object 0x1600+n. If a CANopen slave contains no CAN RxPDOs, then neither object 0x8008+16*n nor the PDO mapping object 0x1600+n exist. These PDOs are mandatory and must always be contained in the PDO Assign object 0x1C12, depending on the configured CANopen slaves. SubIndex 0 contains the number of CAN RxPDOs of the (n+1)^th configured CANopen slave. The RxPDO mapping objects 0x1600-0x167E can be written in order to change the order of the CAN RxPDOs of a configured CANopen slave within its EtherCAT RxPDO. If a RxPDO mapping object of the EtherCAT RxPDOs 1-127 is written, then all PDO mapping objects of the EtherCAT RxPDOs 1-127 and the EtherCAT TxPDOs 1-127 must always be written.

UINT8

RW

(1600+n):01

first mapped CAN RxPDO of the (n+1)^th configured CANopen slave

UINT32

RW

...

..

(1600+n):m

last mapped CAN RxPDO of the (n+1)^th configured CANopen slave

UINT32

RW

1685:0

RxPDO-Map Control

The control word (index 0xF200) can be mapped into the EtherCAT output data with this PDO. This PDO is optional.

UINT8

RO

0x02 (2_dec)

1685:01

SubIndex 001

1. PDO Mapping entry (object 0xF200 (Control), entry 0x01 (CAN Controller Auto Reset when BUS-OFF))

UINT32

RO

0xF200:01, 1

1685:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

1881:0

TxPDO-Par PDO State

PDO Parameter TxPDO 130

UINT8

RO

0x06 (6_dec)

1881:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 130

OCTET-STRING[14]

RO

80 1A 00 00 00 00 00 00 00 00 00 00 00 00

1882:0

TxPDO-Par CANopen Diag Flag

PDO parameter TxPDO 131

UINT8

RO

0x06 (6_dec)

1882:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 131

OCTET-STRING[14]

RO

80 1A 00 00 00 00 00 00 00 00 00 00 00 00

1883:0

TxPDO-Par Node State

PDO parameter TxPDO 132

UINT8

RO

0x06 (6_dec)

1883:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 132

OCTET-STRING[14]

RO

80 1A 00 00 00 00 00 00 00 00 00 00 00 00

1884:0

TxPDO-Par Extended Diag

PDO parameter TxPDO 133

UINT8

RO

0x06 (6_dec)

1884:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 133

OCTET-STRING[14]

RO

80 1A 85 1A 00 00 00 00 00 00 00 00 00 00

1885:0

TxPDO-Par CAN status

PDO parameter TxPDO 134

UINT8

RO

0x06 (6_dec)

1885:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 134

OCTET-STRING[14]

RO

80 1A 84 1A 00 00 00 00 00 00 00 00 00 00

1888:0

TxPDO-Par CAN TxPDO Toggle 1

PDO parameter TxPDO 137

UINT8

RO

0x06 (6_dec)

1888:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 137

OCTET-STRING[14]

RO

80 1A 00 00 00 00 00 00 00 00 00 00 00 00

1889:0

TxPDO-Par CAN TxPDO Toggle 2

PDO parameter TxPDO 138

UINT8

RO

0x06 (6_dec)

1889:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 138

OCTET-STRING[14]

RO

80 1A 00 00 00 00 00 00 00 00 00 00 00 00

1A00+n:0

TxPDO-Map Node yyy

For each configured CANopen slave there is one TxPDO, which contains all CAN TxPDOs of the CANopen slave. The CAN TxPDOs written in object 0x8006+ (n*16) are located in the TxPDO mapping object 0x1A00+n. If a CANopen slave contains no CAN TxPDOs, then neither object 0x8006+16*n nor the PDO mapping object 0x1A00+n exist. These PDOs are mandatory and must always be contained in the PDO Assign object 0x1C13, depending on the configured CANopen slaves. SubIndex 0 contains the number of CAN RxPDOs of the (n+1)^th configured CANopen slave. The TxPDO mapping objects 0x1A00-0x1A7E can be written in order to change the order of the CAN TxPDOs of a configured CANopen slave within its EtherCAT TxPDO. If a TxPDO mapping object of the EtherCAT TxPDOs 1-127 is written, then all PDO mapping objects of the EtherCAT TxPDOs 1-127 and the EtherCAT RxPDOs 1-127 must always be written.

UINT8

RW

(1A00+n):01

first mapped CAN TxPDO of the (n+1)^th configured CANopen slave

UINT32

RW

...

(1A00+n):m

last mapped CAN TxPDO of the (n+1)^th configured CANopen slave

UINT32

RW

1A81:0

TxPDO-Map PDO State

In this PDO there is a bit for each configured CANopen slave that is set if the CAN communication to the CANopen slave is not OK (a more detailed error cause can be found in 0xF102:m for the m^th configured CANopen slave). If the bit is set, the data of the associated TxPDO m is to be ignored. This PDO is optional.

UINT8

RO

Number of configured CANopen slaves

1A81:01

PDO state of the first configured CANopen slave (configured via the objects 0x800z)

UINT32

RO

0x1800:07, 1

...

1A81:m

PDO state of the last (m^th) configured CANopen slave (configured via the objects 0x800z+(m-1)*16 (1 <= m <= 127))

UINT32

RO

0x1800+(m-1):07, 1

1A82:0

TxPDO-Map CANopen Diag Flag

In this PDO there is a bit for each configured CANopen slave that is set if the diagnostic information (object 0xF103) has changed. This PDO is optional.

UINT8

RO

Number of configured CANopen slaves

1A82:01

Diag Flag of the first configured CANopen slave (configured via the objects 0x800z)

UINT32

RO

0xF103:01,1

...

1A82:m

Diag Flag of the last (m^th) configured CANopen slave (configured via the objects 0x800z+(m-1)*16 (1 <= m <= 127))

UINT32

RO

0xF103:m,1

1A83:0

TxPDO-Map Node State

In this PDO there is a byte for each configured CANopen slave that contains the communication state (object 0xF102) to the CANopen slave. This PDO is optional.

UINT8

RO

0x00 (0_dec)

1A83:01

Node state of the first configured CANopen slave (configured via the objects 0x800z)

UINT32

RO

0xF102:01,8

...

1A83:m

Node state of the last (m^th) configured CANopen slave (configured via the objects 0x800z+(m-1)*16 (1 <= m <= 127))

UINT32

RO

0xF102:m,8

1A84:0

TxPDO-Map Extended Diag

This PDO contains the CAN status (object 0xF108) and the CANopen master diagnostics (object 0xF101) and is optional

UINT8

RO

0x16 (22_dec)

1A84:01

SubIndex 001

1. PDO Mapping entry (11 bits align)

UINT32

RO

0x0000:00, B

1A84:02

SubIndex 002

2. PDO Mapping entry (object 0xF101 (Extended Diag), entry 0x0C (SYNC Toggle))

UINT32

RO

0xF101:0C, 1

1A84:03

SubIndex 003

3. PDO Mapping entry (object 0xF101 (Extended Diag), entry 0x0D (Device Diag))

UINT32

RO

0xF101:0D, 1

1A84:04

SubIndex 004

4. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A84:05

SubIndex 005

5. PDO Mapping entry (object 0xF101 (Extended Diag), entry 0x0F (PDO Toggle))

UINT32

RO

0xF101:0F, 1

1A84:06

SubIndex 006

6. PDO Mapping entry (object 0xF101 (Extended Diag), entry 0x10 (PDO State))

UINT32

RO

0xF101:10, 1

1A84:07

SubIndex 007

7. PDO Mapping entry (object 0xF101 (Extended Diag), entry 0x11 (Cycle Counter))

UINT32

RO

0xF101:11, 16

1A84:08

SubIndex 008

8. PDO Mapping entry (object 0xF101 (Extended Diag), entry 0x12 (Slave Status Counter))

UINT32

RO

0xF101:12, 8

1A84:09

SubIndex 009

9. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A84:0A

SubIndex 010

10. PDO Mapping entry (object 0xF101 (Extended Diag), entry 0x14 (Cycle Time))

UINT32

RO

0xF101:14, 16

1A84:0B

SubIndex 011

11. PDO Mapping entry (16 bits align)

UINT32

RO

0x0000:00, 16

1A84:0C

SubIndex 012

12. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x21 (RX error counter))

UINT32

RO

0xF108:21, 8

1A84:0D

SubIndex 013

13. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x22 (TX error counter))

UINT32

RO

0xF108:22, 8

1A84:0E

SubIndex 014

14. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x01 (Bus-Off))

UINT32

RO

0xF108:01, 1

1A84:0F

SubIndex 015

15. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x02 (warning limit reached))

UINT32

RO

0xF108:02, 1

1A84:10

SubIndex 016

16. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x03 (RX overflow))

UINT32

RO

0xF108:03, 1

1A84:11

SubIndex 017

17. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A84:12

SubIndex 018

18. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x05 (TX overflow))

UINT32

RO

0xF108:05, 1

1A84:13

SubIndex 019

19. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x06 (Ack error))

UINT32

RO

0xF108:06, 1

1A84:14

SubIndex 020

20. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A84:15

SubIndex 021

21. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A84:16

SubIndex 022

22. PDO Mapping entry (16 bits align)

UINT32

RO

0x0000:00, 16

1A85:0

TxPDO-Map CAN status

This PDO contains the CAN status (object 0xF108) and is optional

UINT8

RO

0x0B (11_dec)

1A85:01

SubIndex 001

1. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x01 (Bus-Off))

UINT32

RO

0xF108:01, 1

1A85:02

SubIndex 002

2. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x02 (warning limit reached))

UINT32

RO

0xF108:02, 1

1A85:03

SubIndex 003

3. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x03 (RX overflow))

UINT32

RO

0xF108:03, 1

1A85:04

SubIndex 004

4. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A85:05

SubIndex 005

5. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x05 (TX overflow))

UINT32

RO

0xF108:05, 1

1A85:06

SubIndex 006

6. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x06 (Ack error))

UINT32

RO

0xF108:06, 1

1A85:07

SubIndex 007

7. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A85:08

SubIndex 008

8. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A85:09

SubIndex 009

9. PDO Mapping entry (16 bits align)

UINT32

RO

0x0000:00, 16

1A85:0A

SubIndex 010

10. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x21 (RX error counter))

UINT32

RO

0xF108:21, 8

1A85:0B

SubIndex 011

11. PDO Mapping entry (object 0xF108 (CAN Status), entry 0x22 (TX error counter))

UINT32

RO

0xF108:22, 8

1A88:0

TxPDO-Map CAN TxPDO Toggle 1

This PDO can contain a toggle bit for each CAN TxPDO. Whether the toggle bit of a CAN TxPDO is mapped into this PDO depends on the setting in the respective TxPDO configuration object 0x8nn6. This PDO is optional

UINT8

RO

1A88:01

first CAN TxPDO toggle bit

UINT32

RO

...

1A88:n

n^th CAN TxPDO toggle bit (if no more than 255 CAN TxPDO toggle bits are mapped, this is also the last CAN TxPDO toggle bit)

UINT32

RO

1A89:0

TxPDO-Map CAN TxPDO Toggle 2

If more than 255 CAN TxPDO toggle bits are mapped, the additional CAN TxPDO toggle bits are contained here

UINT8

RO

0x00 (0_dec)

1A89:01

(n+1)^th CAN TxPDO toggle bit

...

1A89:m

m^th CAN TxPDO toggle bit

1A8A:0

CAN TxPDO State-Map

For each configured CAN TxPDO there is a bit that is set if the CAN communication is not ok.

If this bit is set, the data of the corresponding TxPDO m has to be ignored.

UINT8

RO

Number of configured TxPDOs

1A8A:01

PDO State of the first configured TxPDO.

UINT32

RO

0x6008:01, 1

...

1A8A:m

PDO State of the last (m.) configured TxPDO TxPDO.

UINT32

RO

0x67E8:02, 1

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: the RxPDOs must be assigned in the order of their indexes. The RxPDOs of the configured CANopen slaves (0x1600-0x167E) must be assigned if object 0x1C12 is transmitted in the StartUp SDOs. It can then still be decided via RxPDO Assign whether or not the RxPDO Control (index 0x1685) is transmitted in the EtherCAT output data.

UINT8

RW

1C12:01

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

UINT16

RW

...

1C12:80

128. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

1C13:0

TxPDO assign

PDO Assign Inputs: the TxPDOs must be assigned in the order of their indexes. The TxPDOs of the configured CANopen slaves (0x1A00-0x1A7E) must be assigned if object 0x1C13 is transmitted in the StartUp SDOs. It can then still be decided via TxPDO Assign whether or not the TxPDOs PDO State (index 0x1A81), DiagFlag (index 0x1A82), NodeState (index 0x1A83), ExtendedDiag (index 0x1A84), CAN Status (index 0x1A85) and CAN TxPDO Toggle (index 0x1A88) are transmitted in the EtherCAT input data. In addition to the TxPDOs of the configured CANopen slaves, the TxPDOs 0x1A83 and 0x1A85 are transmitted in the default settings.

UINT8

RW

1C13:01

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

UINT16

RW

...

1C13:83

135. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

1C32:0

SM output parameter

Synchronisation parameters for the outputs

UINT8

RO

0x20 (32_dec)

1C32:01

Sync mode

Current synchronisation mode:

• 1: Synchronous with SM 2 event
• 3: DC-Mode - Synchronous with SYNC1 event

UINT16

RW

0x0001 (1_dec)

1C32:02

Cycle time

Cycle time (in ns):

• Cycle time of the EtherCAT master

UINT32

RW

0x00000000 (0_dec)

1C32:03

Shift time

not used

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

0x4006 (16390_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0_dec)

1C32:06

Calc and copy time

Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C32:08

Command

• 0: Measurement of the local cycle time is stopped
• 1: Measurement of the local cycle time is started

The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0_dec)

1C32:09

Delay time

Time between SYNC1 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C32:0B

SM event missed counter

Number of missed SM events in OPERATIONAL (DC mode only)

UINT16

RO

0x0000 (0_dec)

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 (0_dec)

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 (0_dec)

1C32:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC mode only)

BOOLEAN

RO

0x00 (0_dec)

1C33:0

SM input parameter

Synchronisation parameters for the inputs

UINT8

RO

0x20 (32_dec)

1C33:01

Sync mode

Current synchronisation mode:

• 1: Synchron with SM 3 Event (no outputs available)
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs available)

UINT16

RW

0x0022 (34_dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

0x00000000 (0_dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0_dec)

1C33:04

Sync modes supported

Supported synchronization modes:

• 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 14 = 1: dynamic times (measurement through writing of 0x1C32:08 or 0x1C33:08)

UINT16

RO

0x4006 (16390_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x00000000 (0_dec)

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 (0_dec)

1C33:08

Command

as 0x1C32:08

UINT16

RW

0x0000 (0_dec)

1C33:09

Delay time

not supported

UINT32

RO

0x00000000 (0_dec)

1C33:0B

SM event missed counter

as 0x1C32:11

UINT16

RO

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:12

UINT16

RO

0x0000 (0_dec)

1C33:0D

Shift too short counter

as 0x1C32:13

UINT16

RO

0x0000 (0_dec)

1C33:20

Sync error

as 0x1C32:32

BOOLEAN

RO

0x00 (0_dec)