Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Index 6000 CAN Rx message queue
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
|---|---|---|---|---|---|
|
6000:0 |
CAN Rx message queue |
This object contains the inputs of the CAN interface with 11-bit identifier. |
UINT8 |
RO |
|
|
6000:01 |
TX counter |
see CAN interface description |
UINT16 |
RO |
|
|
6000:02 |
RX counter |
see CAN interface description |
UINT16 |
RO |
|
|
6000:03 |
Number of RX Messages |
see CAN interface description |
UINT16 |
RO |
|
|
6000:04 |
TX Transaction Number |
see CAN interface description |
UNT16 |
RO |
|
|
6000:05 |
RX Message 1 |
see CAN interface description |
OCTET-STRING[10] |
RO |
|
|
... |
|
|
|
|
|
|
6000:m |
RX Message m-4 |
see CAN interface description |
OCTET-STRING[10] |
RO |
|
Index 6001 CAN Rx extended message queue
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
|---|---|---|---|---|---|
|
6001:0 |
CAN Rx extended message queue |
This object contains the inputs of the CAN interface with 29-bit identifier. |
UINT8 |
RO |
|
|
6001:01 |
TX counter |
see CAN interface description |
UINT16 |
RO |
|
|
6001:02 |
RX counter |
see CAN interface description |
UINT16 |
RO |
|
|
6001:03 |
Number of RX Messages |
see CAN interface description |
UINT16 |
RO |
|
|
6001:04 |
TX Transaction Number |
see CAN interface description |
UNT16 |
RO |
|
|
6001:05 |
RX Message 1 |
see CAN interface description |
OCTET-STRING[14] |
RO |
|
|
... |
|
|
|
|
|
|
6001:m |
RX Message m-4 |
see CAN interface description |
OCTET-STRING[14] |
RO |
|
Index 7000 CAN Tx message queue
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
|---|---|---|---|---|---|
|
7000:0 |
CAN Tx message queue |
This object contains the outputs of the CAN interface with 11-bit identifier. |
UINT8 |
RO |
|
|
7000:01 |
TX counter |
see CAN interface description |
UINT16 |
RO |
|
|
7000:02 |
RX counter |
see CAN interface description |
UINT16 |
RO |
|
|
7000:03 |
Number of TX Messages |
see CAN interface description |
UINT16 |
RO |
|
|
7000:04 |
TX Message 1 |
see CAN interface description |
OCTET-STRING[12] |
RO |
|
|
... |
|
|
|
|
|
|
7000:m |
TX Message m-3 |
see CAN interface description |
OCTET-STRING[12] |
RO |
|
Index 7001 CAN Tx extended message queue
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
|---|---|---|---|---|---|
|
7001:0 |
CAN Tx extended message queue |
This object contains the outputs of the CAN interface with 11-bit identifier. |
UINT8 |
RO |
|
|
7001:01 |
TX counter |
see CAN interface description |
UINT16 |
RO |
|
|
7001:02 |
RX counter |
see CAN interface description |
UINT16 |
RO |
|
|
7001:03 |
Number of TX Messages |
see CAN interface description |
UINT16 |
RO |
|
|
7001:04 |
TX Message 1 |
see CAN interface description |
OCTET-STRING[16] |
RO |
|
|
... |
|
|
|
|
|
|
7001:m |
TX Message m-3 |
see CAN interface description |
OCTET-STRING[16] |
RO |
|
Index 8000 CAN Interface configuration
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default | |
|---|---|---|---|---|---|---|
|
8000:0 |
CAN interface configuration |
the CAN interface is configured with this object |
UINT8 |
RO |
0x24 (36dec) | |
|
8000:01 |
Node address |
must be set to 0 |
UINT16 |
RW |
0x0000 (0dec) | |
|
8000:20 |
Flags |
Bits 0-2 |
reserved for extensions, must be 0 |
UINT16 |
RW |
0x0000 (0dec) |
|
Bit 3 |
0 = Standard Queue (11 Bit Identifier), 1 = Extended Queue (29 Bit Identifier) | |||||
|
Bits 4-8 |
reserved for extensions, must be 0 | |||||
|
Bit 9 |
0 = Buffered CAN Queue, 1 = Fast CAN Queue (non buffered) | |||||
|
Bits 10-15 |
reserved for extensions, must be 0 | |||||
|
8000:21 |
Rx queue size |
Number of RX messages |
UINT8 |
RW |
| |
|
8000:22 |
Tx queue size |
Number of TX messages |
UINT8 |
RW |
| |
|
8000:23 |
|
reserved for extensions; must be 150 |
UINT16 |
RW |
0x0096 (150dec) | |
|
8000:24 |
|
reserved for extensions; must be 150 |
UINT16 |
RW |
0x0096 (150dec) | |
Index 8001 CAN Rx filter table
From firmware 17 of the EL6751, parameter 0x8001 must be written with valid values.
If all data are to be written into the CAN interface, the following must be entered:
For 11 bit and 29 bit identifiers:
0x8001: 01 00 00 00 00 00 00 FF FF FF 1F
For 11 bit identifiers
0x8001: 01 00 00 00 00 00 00 00 FF 07 00 00
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
8001:0 | CAN Rx filter table | Number of valid filter sub index values (1..m, m = 255).
With this object, the CAN identifier ranges can be defined for the identifiers CAN messages, which are entered in the Rx queue and transferred with the EtherCAT input data. This object must be configured from firmware 17. | UINT8 | RO |
|
8001:01 | Identifier Area 1 | Bytes 0-3: first identifier that is entered in the Rx queue | UINT64 | RO |
|
Bytes 4-7: last identifier that is entered in the Rx queue | |||||
... |
|
|
|
|
|
8001:m | Identifier Area m | Bytes 0-3: first identifier that is entered in the Rx queue | UINT64 | RO |
|
Bytes 4-7: last identifier that is entered in the Rx queue |