Profile-specific objects (0x6000-0xFFFF)

6000+n*16:0

CAN TxPDOs Node yyy

This object contains the CAN TxPDOs 1-255 of the (n+1)^th configured CANopen slave. The corresponding SubIndex is only present if the corresponding CAN TxPDO was also configured in object 0x8006+n*16. The object is mapped in the TxPDO (n+1) (index 0x1A00+n).

UINT8

RO

(6000+n*16):01

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

OCTET-STRING

RO

...

(6000+n*16):FF

Data of CAN TxPDO 255 of the (n+1)^th configured CANopen slave

OCTET-STRING

RO

6004+n*16:0

CAN TxPDOs Toggle Node yyy

This object contains the toggle bits of the CAN TxPDOs 1-255 of the (n+1)^th configured CANopen slave. The bit toggles if the associated CAN TxPDO has been received since the previous EtherCAT input update. It does not matter whether the CAN TxPDO was received one or more times. The corresponding SubIndex is present only if the toggle bit was also configured in object 0x8006+n*16. These toggle bits are mapped in the TxPDOs 137/138 (index 0x1A88 or 0x1A89)

UINT8

RO

(6004+n*16):01

Toggle bit of CAN TxPDO 1 of the (n+1)^th configured CANopen slave

BOOLEAN

RO

...

(6004+n*16):FF

Toggle bit of CAN TxPDO 255 of the (n+1)^th configured CANopen slave

BOOLEAN

RO

6008+n*16:0

CAN TxPDOs PDOState yyy

This object contains the PDOState bits of the configured m. CAN TxPDOs

(1 <= m <= 254) (n = (m-1) div 2)
(div: integer division)

The bit is set if the CAN communication of this TxPDO is not ok.
If the bit is set, the data of the corresponding TxPDO n has to be ignored.
This PDO is optional.

UINT8

RO

(6008+n*16):01

PDOState Bit of the 1. configured
CAN TxPDO (n = 0)

BOOLEAN

RO

(6008+n*16):02

PDOState Bit of the 2. configured
CAN TxPDO (n = 0)

BOOLEAN

RO

(6008+n*16):01

PDOState Bit of the 3. configured
CAN TxPDO (n = 1)

BOOLEAN

RO

(6008+n*16):02

PDOState Bit of the 4. configured
CAN TxPDO (n = 1)

BOOLEAN

RO

...

(6008+n*16):02

PDOState Bit of the 254. configured
CAN TxPDO (n = 126)

BOOLEAN

RO

7000+n*16:0

CAN RxPDOs Node yyy

This object contains the CAN RxPDOs 1-255 of the (n+1)^th configured CANopen slave. The corresponding SubIndex is only present if the corresponding CAN RxPDO was also configured in object 0x8006+n*16. The object is mapped in the RxPDO (n+1) (index 0x1600+n).

UINT8

RO

(7000+n*16):01

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

OCTET-STRING

RO

...

(7000+n*16):FF

Data of CAN RxPDO 255 of the (n+1)^th configured CANopen slave

OCTET-STRING

RO

7004+n*16:0

CAN TxPDOs RTR Request Node yyy

This object contains the RTR bits of the CAN TxPDOs 1-255 of the (n+1)^th configured CANopen slave. If the bit is toggled, a RTR request is sent to collect the associated CAN TxPDO. The corresponding SubIndex is present only if the RTR bit was also configured in object 0x8006+n*16.

UINT8

RO

(7004+n*16):01

RTR bit of CAN TxPDO 1 of the (n+1)^th configured CANopen slave

BOOLEAN

RO

...

(7004+n*16):FF

RTR bit of CAN TxPDO 255 of the (n+1)^th configured CANopen slave

BOOLEAN

RO

8000+n*16:0

Communication Parameter Node yyy

This object contains the CAN configuration of the (n+1)^th configured CANopen slave (0 <= n <127). 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

0x2E (46_dec)

(8000+n*16):01

Node address

CANopen node address of the CANopen slave, permitted values: 1-127; the entry 0xF020:(n+1) is hence automatically updated

UINT16

RW

(8000+n*16):04

Device type

Object 0x1000 of the CANopen slave; this value is checked at the CAN boot-up, provided that the check is not disabled via the flags (SubIndex 20 of this object)

UINT32

RW

(8000+n*16):05

Vendor ID

Object 0x1018:01 of the CANopen slave; this value is checked at the boot-up if not equal to 0

UINT32

RW

(8000+n*16):06

Product code

Object 0x1018:02 of the CANopen slave; this value is checked at the boot-up if not equal to 0

UINT32

RW

(8000+n*16):07

Revision

Object 0x1018:03 of the CANopen slave; this value is checked at the boot-up if not equal to 0

UINT32

RW

(8000+n*16):08

Serial number

Object 0x1018:04 of the CANopen slave; this value is checked at the boot-up if not equal to 0

UINT32

RW

(8000+n*16):1D

Network flags

reserved for AMS via CANopen

UINT16

RW

0x0000 (0_dec)

(8000+n*16):1E

Network port

reserved for AMS via CANopen

UINT16

RW

0x0000 (0_dec)

(8000+n*16):1F

Network segment address

reserved for AMS via CANopen

OCTET-STRING[6]

RW

0x00, 0x00, 0x00, 0x00, 0x00, 0x00

(8000+n*16):20

Flags

Bit 0

CAN Layer 2-Node: only asynchronous OnChange CAN PDOs are exchanged with the slave

UINT16

RW

0x0000 (0_dec)

Bit 1

Automatic sending of the CAN PDO communication parameters is switched off during the boot-up

Bit 2

reserved, must be 0

Bit 3

reserved, must be 0

Bit 4

Guarding is used instead of Heartbeat

Bit 5

If not all configured CAN TxPDOs have been received 10 s after the start of the CANopen slave, the CANopen slave is rebooted

Bit 6

The checking of object 0x1000 during the CAN boot-up is switched off

Bit 7

The writing of object 0x1006 during the CAN boot-up is switched off

Bit 8

The automatic start of the CANopen slave after completion of the CAN boot-up is switched off

Bit 9

reserved, must be 0

Bit 10

reserved, must be 0

Bit 11

reserved, must be 0

Bit 12

reserved, must be 0

Bit 13

reserved, must be 0

Bit 14

reserved, must be 0

Bit 15

reserved, must be 0

(8000+n*16):21

Guarding time

Guarding time (object 0x100C or 0x1017) for Guarding or Heartbeat in accordance with bit 4 of the flags in SubIndex 0x20)

UINT16

RW

(8000+n*16):22

Life time factor

Life time factor (object 0x100D) for Guarding or Life time factor*Guarding time (object 0x1016:01) for Heartbeat (in accordance with bit 4 of the flags in SubIndex 0x20)

UINT16

RW

(8000+n*16):23

SDO timeout

Timeout for the transmission of CAN SDOs to the CANopen slave (in ms, 0 corresponds to 2000 ms)

UINT16

RW

0x07D0 (2000_dec)

(8000+n*16):24

Boot timeout

This time is allowed to elapse after a Reset Node before the first CAN SDO is sent during the boot-up (in ms, 0 corresponds to 2000 ms)

UINT16

RW

0x07D0 (2000_dec)

(8000+n*16):25

Parallel AoE services

Number of parallel acyclic CAN SDO orders for the CANopen slave that can be received via AoE from the EtherCAT master, saved and processed on the EL6751 (0 corresponds to the default value of 5)

UINT8

RW

0x05 (5_dec)

(8000+n*16):26

Reaction on CANopen fault

If an error is detected during communication with the CANopen slave (error code in 0xF102:(n+ 1)), the reaction is as follows:

BOOLEAN

RW

FALSE

FALSE

The CANopen is stopped; the next startup (see SubIndex 0x27) will begin with Reset Node

TRUE

The CANopen is stopped; the next startup (see SubIndex 0x27) will begin with the first CAN StartUp SDO (usually the reading of object 0x1000)

(8000+n*16):27

Restart behavior after CANopen fault

If an error is determined during communication with the CANopen slave and the ‘Reaction on CANopen fault’ has been executed, the restart behavior is as follows

BOOLEAN

RW

FALSE

FALSE

The CANopen slave is automatically restarted (in accordance with SubIndex 0x26)

TRUE

The CANopen slave must be restarted via AoE

(8000+n*16):28

Master reaction after CANopen fault

If an error is determined during communication with the CANopen slave, the CANopen communication with the other CANopen slaves can be influenced:

BOOLEAN

RW

FALSE

FALSE

no influence

TRUE

a Stop Node is sent to all CANopen slaves; the CANopen communication must be restarted via AoE

(8000+n*16):29

Changes of CAN TxPDOs after CANopen fault

If an error is detected during communication with the CANopen slave, the EtherCAT input data is influenced as follows

BOOLEAN

RW

FALSE

FALSE

The data of the CAN TxPDOs in the EtherCAT input data is set to 0

TRUE

The data of the CAN TxPDOs in the EtherCAT input data remains unchanged

(8000+n*16):2A

reserved for extensions; must be 0

4-bit gap

RW

0x00 (0_dec)

(8000+n*16):2E

reserved for extensions; must be 10

UNSIGNED8

RW

0x0A (10_dec)

(8000+n*16):2F

reserved for extensions; must be 0

8-bit gap

RW

0x00 (0_dec)

(8000+n*16):30

reserved for extensions; must be 0

32-bit gap

RW

0x00000000 (0_dec)

(8000+n*16):31

reserved for extensions; must be 0

32-bit gap

RW

0x00000000 (0_dec)

(8000+n*16):32

reserved for extensions; must be 0

32-bit gap

RW

0x00000000 (0_dec)

(8000+n*16):33

reserved for extensions; must be 0

32-bit gap

RW

0x00000000 (0_dec)

(8000+n*16):34

reserved for extensions; must be 0

32-bit gap

RW

0x00000000 (0_dec)

(8000+n*16):35

reserved for extensions; must be 0

32-bit gap

RW

0x00000000 (0_dec)

(8000+n*16):36

reserved for extensions; must be 0

32-bit gap

RW

0x00000000 (0_dec)

8003+n*16:0

CAN SDO Init Cmds Node yyy

This object contains the CAN StartUp SDOs of the (n+1)^th configured CANopen slave (0 <= n <127), which are sent to the CANopen slave after the boot-up and before the start of the CANopen slave. Up to 255 StartUp SDOs can be configured per CANopen slave. SubIndex 0 contains the number of configured CAN StartUp SDOs. The object is to be transmitted with Complete Access.

UINT8

RW

(8003+n*16):01

first CAN StartUp SDO

OCTET-STRING

RW

Bytes 0-1

Index of the StartUp SDO

Byte 2

SubIndex of the StartUp SDO

Bytes 3-4

Length of the following data of the StartUp SDO

from byte 5

Data of the StartUp SDO

...

(8003+n*16):FF

255. CAN StartUp SDO

8006+n*16:0

CAN TxPDO Configuration Node yyy

This object contains the CAN TxPDO configuration of the (n+1)^th configured CANopen slave (0 <= n <127). TxPDOs 1-255 of a CANopen slave are configurable. SubIndex 0 contains the maximum configured CAN TxPDO number. If CAN TxPDOs are not present in between, the SubIndex is to be omitted or, in the case of Complete Access, filled with zeros. 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

(8006+n*16):01

Configuration of CAN TxPDO 1 of the CANopen slave

OCTET-STRING

RW

Bytes 0-3

COB-ID (bits 11-31 must be 0)

Byte 4

Transmission Type

Byte 5

Length of the data of the CAN TxPDO

Bytes 6-7

Inhibit Time

Bytes 8-9

Event Time

Bytes 10-11

Flags

Bit 0

CAN TxPDO toggle (entry 0x6004+(n*16):01) is mapped into EtherCAT TxPDO 137/138 (index 0x1A88/0x1A89)

Bit 1-9

reserved for extensions; must be 0

Bit 10

Length checking is switched off

Bits 11-15

reserved for extensions; must be 0

...

(8006+n*16):FF

Configuration of CAN TxPDO 255 of the CANopen slave

8008+n*16:0

CAN RxPDO Configuration Node yyy

This object contains the CAN RxPDO configuration of the (n+1)^th configured CANopen slave (0 <= n <127). RxPDOs 1-255 of a CANopen slave are configurable. SubIndex 0 contains the maximum configured CAN RxPDO number. If CAN RxPDOs are not present in between, the SubIndex is to be omitted or, in the case of Complete Access, filled with zeros. 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

(8008+n*16):01

Configuration of CAN RxPDO 1 of the CANopen slave

OCTET-STRING[12]

RW

Byte 0-3

COB-ID (bits 11-31 must be 0)

Byte 4

Transmission Type

Byte 5

Length of the data of the CAN RxPDO

Bytes 6-7

Inhibit time, is ignored by the EL6751

Bytes 8-9

Event Time

Bytes 10-11

Flags, must be 0

...

(8008+n*16):FF

Configuration of CAN RxPDO 255 of the CANopen slave

OCTET-STRING[12]

RW

9000+n*16:0

Detected CANopen Identification Node yyy

This object contains the InfoData on the (n+1)^th found CANopen slave, if the Scan Boxes command has been executed following switching to PREOP.

UINT8

RO

(9000+n*16):01

Node Address

Station address of the CANopen slave (same value as in 0xF040:(n+1))

UINT16

RO

(9000+n*16):02

Device name

Object 0x1008 of the CANopen slave

STRING

RO

(9000+n*16):04

Device type

Object 0x1000 of the CANopen slave

UINT32

RO

(9000+n*16):05

Vendor ID

Object 0x1018:01 of the CANopen slave

UINT32

RO

(9000+n*16):06

Product code

Object 0x1018:02 of the CANopen slave

UINT32

RO

(9000+n*16):07

Revision

Object 0x1018:03 of the CANopen slave

UINT32

RO

(9000+n*16):08

Serial number

Object 0x1018:04 of the CANopen slave

UINT32

RO

9006+n*16:0

Detected TxPDO Configuration Node yyy

This object contains the InfoData on the CAN TxPDOs of the (n+1)^th found CANopen slave, if the Scan Boxes command has been executed following switching to PREOP.

UINT8

RO

(9006+n*16):01

CAN TxPDO 1 (meaning of the data is identical to object 0x8yy6)

OCTET-STRING[12]

RO

...

(9006+n*16):FF

CAN TxPDO 255

OCTET-STRING[12]

RO

9008+n*16:0

Detected RxPDO Configuration Node yyy

This object contains the InfoData on the CAN RxPDOs of the (n+1)^th found CANopen slave, if the Scan Boxes command has been executed following switching to PREOP.

UINT8

RO

(9008+n*16):01

CAN RxPDO 1 (meaning of the data is identical to object 0x8yy8)

OCTET-STRING[12]

RO

...

(9008+n*16):FF

CAN RxPDO 255

OCTET-STRING[12]

RO

A001+n*16:0

CANopen Diagnosis Node yyy

there is a diagnostic object for each CANopen slave configured in 0x8000+n*16

UINT8

RO

(A001+n*16):01

Flags

Bit 0

It was possible to set Producer Heartbeat; Consumer Heartbeat was rejected; despite that, the CANopen slave has been started (in order to activate monitoring on the CANopen slave, Guarding should be set instead of Heartbeat in object 0x8yy0:20)

UINT16

RO

Bit 1

An incorrect boot-up message was received from the CANopen slave

Bit 2

The CAN-Emergency-FIFO (10 emergencies can be stored) has overflowed

Bits 3-15

reserved for extensions

(A001+n*16):02

Received TxPDOs

Bit 0

CAN TxPDO 1 was not received at least once after the sending of Start Node

UINT16

RO

Bit 1

CAN TxPDO 2 was not received at least once after the sending of Start Node

Bit 2

CAN TxPDO 3 was not received at least once after the sending of Start Node

Bit 3

CAN TxPDO 4 was not received at least once after the sending of Start Node

Bit 4

CAN TxPDO 5 was not received at least once after the sending of Start Node

Bit 5

CAN TxPDO 6 was not received at least once after the sending of Start Node

Bit 6

CAN TxPDO 7 was not received at least once after the sending of Start Node

Bit 7

CAN TxPDO 8 was not received at least once after the sending of Start Node

Bit 8

CAN TxPDO 9 was not received at least once after the sending of Start Node

Bit 9

CAN TxPDO 10 was not received at least once after the sending of Start Node

Bit 10

CAN TxPDO 11 was not received at least once after the sending of Start Node

Bit 11

CAN TxPDO 12 was not received at least once after the sending of Start Node

Bit 12

CAN TxPDO 13 was not received at least once after the sending of Start Node

Bit 13

CAN TxPDO 14 was not received at least once after the sending of Start Node

Bit 14

CAN TxPDO 15 was not received at least once after the sending of Start Node

Bit 15

all other configured CAN TxPDOs were not received at least once after the sending of Start Node

(A001+n*16):03

CAN PDO fault

1

incorrect length of the CAN TxPDO

UINT16

RO

2

synchronous CAN TxPDO was not received in time

3

CANopen slave has automatically switched to PRE-OPERATIONAL

4

CAN TxPDO supervised with event time was not received in time

5

no response during Guarding, or failure of the Producer Heartbeat

6

Toggle bit has not toggled during Guarding

7

CANopen slave has automatically switched to STOPPED

8

CANopen slave sends an unknown COP state

9

Send queue of the EL6751 has overflowed (e.g. when no further CAN acknowledge is received during the operation)

(A001+n*16):04

CAN SDO/StartUp fault

Bits 0-6

1

incorrect value when reading a StartUp SDO (details in SubIndex 7 and 8)

UINT16

RO

2

incorrect length when reading a StartUp SDO

3

SDO error when reading or writing a StartUp SDO (details in SubIndex 5 and 6)

4

incorrect boot-up message

Bit 7

0

Error during SDO upload

1

Error during SDO download

Bits 8-15

reserved for extensions

(A001+n*16):05

Fault object (for SDO fault)

Object in which the StartUp SDO error has occurred

UINT32

RO

(A001+n*16):06

Abort Code (for SDO fault)

Abort code of the last abort of the StartUp SDOs

UINT32

RO

(A001+n*16):07

Read value (for SDO/StartUp fault)

read value of the StartUp SDO

UINT32

RO

(A001+n*16):08

Expected value (for SDO/StartUp fault)

expected value of the StartUp SDO

UINT32

RO

A002+n*16:0

CANopen Emergencies Node yyy

for each CANopen slave configured in 0x8000+n*16, there is an object that contains the received emergencies. SubIndex 0 contains the number of stored emergencies (is set to 0 if the entry 0xF103:(n+1) is set to 0)

UINT8

RO

(A002+n*16):01

first received CAN emergency

OCTET-STRING[8]

RO

...

(A002+n*16):FF

last received CAN emergency

OCTET-STRING[8]

RO

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

0x007F (127_dec)

F000:03

General Configuration Entries

indicates which of the SubIndexes 1-31 of the objects 0x8zz0 are supported

UINT16

RO

0x700000F9

F000:04

General Information Entries

indicates which of the SubIndexes 1-31 of the objects 0x9zz0 are supported

UINT16

RO

0x000000FD

F002:0

Detect modules command

The CAN bus can be scanned in PREOP for CANopen slave with this object. The CAN node addresses of the CANopen slaves found are stored in the object 0xF040. Furthermore, the InfoData objects 0x9yyz are created. However, none of the objects 0x8yyz or 0xF800 may be transmitted before that. If this is the case, or if the scan is to be repeated, the EL6751 must be switched once to INIT and back to PREOP beforehand.

UINT8

RO

F002:01

Command Request

The writing of this entry starts the scan; the baud rate according to 0xF800:02 is located in the data word

OCTET-STRING[2]

RW

F002:02

Command Status

0

Command ended without error, no response data

UINT8

RO

1

Command ended without error, response data in SubIndex 3

3

Command ended with an error, error code in SubIndex 3

100-199

0-99% of the command are ended

255

Command is being executed

F002:03

Command Response

Byte 0

as SubIndex 2

OCTET-STRING[n]

RO

Byte 1

reserved for extensions

Bytes 2-3

Number of found slaves

Byte 4

Node address of the first CANopen slave found

Bytes 5-8

Vendor ID of the first CANopen slave found

Bytes 9-12

Product code of the first CANopen slave found

Byte 13

Node address of the second CANopen slave found …

...

etc.

F020:0

Configured address list

This object contains the node addresses of the configured CANopen slaves. SubIndex 0 contains the number of configured CANopen slaves. The list has a maximum of 127entries (CAN interface (if configured: node address 0 in 0xF020:01) plus 126 CANopen slaves)

UINT8

RO

F020:01

Node address of the first configured CANopen slave (same value as in 0x8000:01)

UINT16

RO

...

F020:7F

Node address of the 127^th configured CANopen slave (same value as in 0x87E0:01)

UINT16

RO

F040:0

Configured address list

This object contains the node addresses of the CANopen slaves found if the Detect modules command has been executed. SubIndex 0 contains the number of CANopen slaves found. The list has a maximum of 126 entries.

UINT8

RO

F040:01

Node address of the first CANopen slave found (same value as in 0x9000:01)

UINT16

RO

...

F040:7E

Node address of the 126^th CANopen slave found (same value as in 0x97D0:01)

UINT16

RO

F101:0

Extended Diag

This object contains the diagnosis of the EL6751, which is mapped into TxPDO 133 (Index 0x1A84)

UINT8

RO

F101:01

reserved for extensions

8-bit gap

F101:09

reserved for extensions

3-bit gap

F101:0C

SYNC Toggle

toggles with each transmission of the SYNC message

BOOLEAN

RO

F101:0D

Device Diag

reserved for extensions

BOOLEAN

RO

F101:0E

Sync Error

reserved for extensions

BOOLEAN

RO

F101:0F

PDO Toggle

The bit toggles if the EtherCAT input data has been updated since the previous EtherCAT input update

BOOLEAN

RO

F101:10

PDO State

This bit is set if at least one configured CANopen slave has a node state that is not equal to 0

BOOLEAN

RO

F101:11

Cycle Counter

This counter is incremented after each CAN cycle (if at least one CANopen slave has been configured)

UINT16

RO

F101:12

Slave Status Counter

This byte contains the number of

UINT8

RO

F101:13

reserved for extensions

8-bit gap

F101:14

Cycle Time

This entry contains the required CPU ticks of the CAN cycle Unit in ticks

UINT16

RO

F102:0

Node State

There is a node state for each CANopen slave configured in 0x8000+n*16. The node states are mapped in TxPDO 132 (Index 0x1A83).

UINT8

RO

F102:01

Node state of the first configured CANopen slave

UINT8

RO

0

No error

1

CANopen slave has not been restarted following an error, because entry 0x8yy0:27 has been configured for manual restart or because the CANopen slave was stopped with AoE

2

CANopen slave does not respond

4

Length of the data at a StartUp SDO upload is incorrect or StartUp SDO download has failed

5

Value of the data at a StartUp SDO upload is incorrect

8

CANopen slave is in boot-up (StartUp SDOs are being transmitted, so far no error)

11

CAN controller is in bus-off

12

CANopen slave has left OPERATIONAL (automatically or on request by AoE)

14

Guarding has not toggled

18

CANopen slave was started, all CAN TxPDOs were received, but no EtherCAT process data has been exchanged yet

20

CAN TxPDO with incorrect length received

22

synchronous or event-timer-triggered CAN TxPDO was not received in time

23

at least one CAN TxPDO has not yet been received after the Start Node

24

TX FIFO overflow (e.g. if no CAN acknowledge is detected)

40

CAN TxPDO with type 1 transmission was not received in this CAN cycle

...

F102:7F

Node state of the 127^th configured CANopen slave

UINT8

RO

F103:0

CANopen Diag Flag

There is a Diag Flag for each CANopen slave configured in 0x8000+n*16. The Diag Flag is set if the diagnosis (object 0xA001+((m-1)*16)) or the saved CAN emergencies (object 0xA002+((m-1)*16)) of the m^th configured CANopen slave has changed. If the bit is set, the diagnosis and/or emergencies have changed. In order to reset the bit, 0 must be written to the corresponding entry (0xF103:m). The Diag Flags are mapped in TxPDO 131 (Index 0x1A82).

UINT8

RO

F103:01

Diag Flag of the first configured CANopen slave

BOOLEAN

RW

...

F103:7F

Diag Flag of the last configured CANopen slave

BOOLEAN

RW

F108:0

CAN status

This object contains the CAN status that is mapped into TxPDOs 133 and 134 (index 0x1A84 and 0x1A85)

UINT8

RO

0x22 (34_dec)

F108:01

Bus-Off

indicates whether the CAN controller reports bus-off

BOOLEAN

RO

0x00 (0_dec)

F108:02

warning limit reached

indicates whether the CAN controller reports EWarning Limit Reached

BOOLEAN

RO

0x00 (0_dec)

F108:03

RX overflow

RX-FIFO overflow

BOOLEAN

RO

0x00 (0_dec)

F108:05

TX overflow

TX-FIFO overflow

BOOLEAN

RO

0x00 (0_dec)

F108:06

Ack error

CAN acknowledge has not been detected (e.g. no CAN cable connected)

BOOLEAN

RO

0x00 (0_dec)

F108:21

RX error counter

Rx error counter of the CAN controller

UINT8

RO

0x00 (0_dec)

F108:22

TX error counter

Tx error counter of the CAN controller

UINT8

RO

0x00 (0_dec)

F120:0

Diagnostic Data

This object contains additional measured times for the CAN cycle that are not contained in the Sync Manager parameter objects 0x1C32/0x1C33

UINT8

RO

F120:01

Cycle Time

current cycle time of the CAN cycle in [ns]

UINT32

RO

F120:03

Maximum Cycle Time

maximum cycle time of the CAN cycle (in [ns])

UINT32

RO

F120:04

Bus Load

CAN bus load in %

UINT16

RO

F120:05

16-bit gap

F120:09

Sync RxPDOs finished Time (T3)

current time after the start of the CAN cycle at which all synchronous RxPDOs were sent (in [ns])

UINT32

RO

F120:0B

Sync RxPDOs finished Maximum Time (max T3)

maximum time after the start of the CAN cycle when all synchronous RxPDOs have been sent (in [ns])

UINT32

RO

F120:0C

Preparing of PDOs finished Time (T2)

current time after the start of the CAN cycle at which the sending of the synchronous RxPDOs begins (in [ns])

UINT32

RO

F120:0E

Preparing of PDOs finished Maximum Time (max T2)

maximum time after the start of the CAN cycle at which the sending of the synchronous RxPDOs begins (in [ns])

UINT32

RO

F120:0F

Output Calc and Copy Time (T1)

current time after the start of the CAN cycle at which the SYNC message can be sent (in [ns])

UINT32

RO

F120:11

Ouput Calc and Copy Maximum Time (max T1)

maximum time after the start of the CAN cycle at which the SYNC message can be sent (in [ns])

UINT32

RO

F120:12

Input Calc and Copy Time (T5)

current time still required after the input shift time (0x1C33:03) until the EtherCAT input data have been completely written (in [ns])

UINT32

RO

F120:14

Input Calc and Copy Maximum Time (max T5)

maximum time still required after the input shift time (0x1C33:03) until the EtherCAT input data have been completely written (in [ns])

UINT32

RO

F120:15

Output Failed Counter

Number of cycles in which the EtherCAT output data were not adopted

UINT16

RO

F120:16

Input Failed Counter

Number of cycles in which the EtherCAT input data were not collected

UINT16

RO

F120:17

Send sync RxPDO Failed Counter

Number of CAN cycles that were omitted because the previous CAN cycle was not ended in time

UINT16

RO

F120:18

RX Error Counter

Rx error counter (cumulative errors from 0xF108:21)

UINT16

RO

F120:19

TX Error Counter

Tx error counter (cumulative errors from 0xF108:22)

UINT16

RO

F120:1A

reserved for extensions

16-bit gap

RO

F200:0

Control

The object contains the control data that are mapped in RxPDO 134 (index 0x1685)

UINT8

RO

F200:01

CAN Controller Auto Reset when BUS-OFF

In the case of a CAN bus-off, this allows the EL6751 to be switched again to bus-on via the process data.

BOOLEAN

RO

F800:0

CAN Bus Parameter Set

This object contains the CAN 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.

UINT16

RW

0x11 (17_dec)

F800:01

Master Node Address

Node address of the CANopen master that is used for the Consumer Heartbeat

UINT8

RW

0x7F (127_dec)

F800:02

Baud rate

0

1 Mbit/s

UINT8

RW

1

800 kbit/s

2

500 kbit/s

3

250 kbit/s

4

125 kbit/s

5

100 kbit/s

6

50 kbit/s

7

20 kbit/s

8

10 kbit/s

255

The baud rate is determined via the bus timing register (SubIndex 5)

F800:03

COB ID SYNC

COB ID of the SYNC message (default:0x80)

UINT16

RW

0x80 (128_dec)

F800:04

SYNC cycle time

SYNC cycle time (must be an integer multiple of the EtherCAT cycle time (0x1C32:02))

UINT32

RW

F800:05

Bus timing registers

byte 0

BT0 register of the SJA1000 CAN controller

UINT32

RW

0x00 (0_dec)

byte 1

BT1 register of the SJA1000 CAN controller

byte 2

must be 0

byte 3

must be 0

F800:06

Slave Mode

must be 0 (CANopen master)

BOOLEAN

RW

0x00 (0_dec)

F800:07

PDO Align 8 Bytes

0

CAN PDOs are appended to the EtherCAT process data in succession

BOOLEAN

RW

0x00 (0_dec)

1

each CAN PDO occupies 8 bytes in the EtherCAT process data

F800:08

reserved for extensions

BOOLEAN

RW

0x00 (0_dec)

F800:09

reserved for extensions

5-bit gap

0x00 (0_dec)

F800:0E

TxPDO Delay

SYNC cycle time delay in % until the sending of the synchronous RxPDOs begins

UINT8

RW

0x1E (30_dec)

F800:0F

CAN message queue size

Depth of the low priority CAN Tx queue (for SDOs, Heartbeat and Guarding, default: 100)

UINT16

RW

0x64 (100_dec)

F800:10

reserved for extensions

UINT8

RW

0x00 (0_dec)

F800:11

reserved for extensions

UINT8

RW

0x00 (0_dec)

F800:12

reserved for extensions

16-bit gap

RW

0x00 (0_dec)

F800:13

reserved for extensions

32-bit gap

RW

0x00 (0_dec)

F800:14

reserved for extensions

32-bit gap

RW

0x00 (0_dec)

F800:15

reserved for extensions

32-bit gap

RW

0x00 (0_dec)

F800:16

reserved for extensions

32-bit gap

RW

0x00 (0_dec)

F800:17

reserved for extensions

32-bit gap

RW

0x00 (0_dec)

F800:18

reserved for extensions

32-bit gap

RW

0x00 (0_dec)