EP1816-0008 - Object description and parameterization

EP1816-0008 - Object description and parameterization 1:

Parameterization

You can parameterize the box via the "CoE - Online" tab in TwinCAT.

EP1816-0008 - Object description and parameterization 2:

EtherCAT XML Device Description

The presentation matches that of the EtherCAT XML Device Description.
Recommendation: download the latest XML file from https://www.beckhoff.com and install it according to the installation instructions.

Introduction

The CoE overview contains objects for different intended applications:

The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.

Objects to be parameterized during commissioning

Objects to be parameterized during commissioning

Index 1011 Restore default parameters

Index

Name

Meaning

Data type

Flags

Default

1011:0

Restore default parameters

Restore default settings

UINT8

RO

0x01 (1dec)

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

0x00000000 (0dec)

Objects for regular operation

The EP1816 has no such objects.

Additional objects

Standard objects (0x1000-0x1FFF)

The standard objects have the same meaning for all EtherCAT slaves.

Index 1000 Device type

Index

Name

Meaning

Data type

Flags

Default

1000:0

Device type

Device type of the EtherCAT slave: the Lo-Word contains the used CoE profile (5001). The Hi-Word contains the module profile according to the modular device profile.

UINT32

RO

0x01181389 (18355081dec)

Index 1008 Device name

Index

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

string

RO

EP1816-0008

Index 1009 Hardware version

Index

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

string

RO

00

Index 100A Software version

Index

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

string

RO

01

Index 1018 Identity

Index

Name

Meaning

Data type

Flags

Default

1018:0

Identity

Information for identifying the slave

UINT8

RO

0x04 (4dec)

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

0x00000002 (2dec)

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

0x07184052 (119029842dec)

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

0x00100008 (1048584dec)

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 (0dec)

Index 10F0 Backup parameter handling

Index

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

0x01 (1dec)

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0dec)

Index 1A00 DO TxPDO-Map Inputs Ch.1

Index

Name

Meaning

Data type

Flags

Default

1A00:0

DO TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x0B (11dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x01 (Input 1))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x02 (Input 2))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x03 (Input 3))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x04 (Input 4))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x05 (Input 5))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x06 (Input 6))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x07 (Input 7))

UINT32

RO

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x08 (Input 8))

UINT32

RO

0x6000:08, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x1C32, entry 0x20)

UINT32

RO

0x1C32:20, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

Index 1A01 DO TxPDO-Map Inputs Ch.2

Index

Name

Meaning

Data type

Flags

Default

1A01:0

DO TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 2

UINT8

RO

0x0B (11dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x01 (Input 1))

UINT32

RO

0x6010:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x02 (Input 2))

UINT32

RO

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x03 (Input 3))

UINT32

RO

0x6010:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x04 (Input 4))

UINT32

RO

0x6010:04, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x05 (Input 5))

UINT32

RO

0x6010:05, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x06 (Input 6))

UINT32

RO

0x6010:06, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x07 (Input 7))

UINT32

RO

0x6010:07, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x08 (Input 8))

UINT32

RO

0x6010:08, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x1C32, entry 0x20)

UINT32

RO

0x1C32:20, 1

1A01:0B

SubIndex 011

11. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

Index 1C00 Sync manager type

Index

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Using the Sync Managers

UINT8

RO

0x04 (4dec)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1dec)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2dec)

1C00:03

SubIndex 003

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

UINT8

RO

0x03 (3dec)

1C00:04

SubIndex 004

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

UINT8

RO

0x04 (4dec)

Index 1C12 RxPDO assign

Index

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RO

0x00 (0dec)

Index 1C13 TxPDO assign

Index

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RO

0x02 (2dec)

1C13:01

Subindex 001

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

UINT16

RO

0x1A00 (6656dec)

1C13:02

Subindex 002

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

UINT16

RO

0x1A01 (6657dec)

Index 1C33 SM input parameter

Index

Name

Meaning

Data type

Flags

Default

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

0x20 (32dec)

1C33:01

Sync mode

Current synchronization mode:

  • 0: Free Run
  • 1: Synchron with SM 3 event (no outputs available)
  • 2: DC - Synchron with SYNC0 Event
  • 3: DC - Synchron with SYNC1 Event
  • 34: Synchron with SM 2 event (outputs available)

UINT16

RW

0x0022 (34dec)

1C33:02

Cycle time

Cycle time (in ns):

  • Synchronous with SM 2 Event: cycle time of the master
  • DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x000186A0 (100000dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0dec)

1C33:04

Sync modes supported

Supported synchronization modes:

  • Bit 0: Free Run is supported
  • Bit 1: Synchron with SM 2 Event is supported (outputs available)
  • Bit 1: Synchron with SM 3 Event is supported (no outputs available)
  • Bit 2-3 = 01: DC-Mode is supported
  • Bit 4-5 = 01: Input Shift through local event (outputs available)
  • Bit 4-5 = 10: Input Shift with SYNC1 event (no outputs available)
  • Bit 14 = 1: dynamic times (measurement through writing of 1C33:08)

UINT16

RO

0xC007 (49159dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000124F8 (75000dec)

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 (0dec)

1C33:08

Command

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

The entries 1C33:03, 1C33:06, 1C33:07, 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0dec)

1C33:09

Delay time

Time between SYNC1 event and reading of the inputs (in ns, only DC mode)

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

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

UINT16

RO

0x0000 (0dec)

1C33:0C

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 (0dec)

1C33:0D

Shift too short counter

Number of occasions that the interval between SYNC0 and SYNC1 event was too short (DC mode only)

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

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

boolean

RO

0x00 (0dec)

Profile-specific objects (0x6000-0xFFFF)

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

Index 6000 DO Inputs Ch.1

Index

Name

Meaning

Data type

Flags

Default

6000:0

DO Inputs Ch.1

 

UINT8

RO

0x0E (14dec)

6000:01

Input 1

 

boolean

RO

0x00 (0dec)

6000:02

Input 2

 

boolean

RO

0x00 (0dec)

6000:03

Input 3

 

boolean

RO

0x00 (0dec)

6000:04

Input 4

 

boolean

RO

0x00 (0dec)

6000:05

Input 5

 

boolean

RO

0x00 (0dec)

6000:06

Input 6

 

boolean

RO

0x00 (0dec)

6000:07

Input 7

 

boolean

RO

0x00 (0dec)

6000:08

Input 8

 

boolean

RO

0x00 (0dec)

6000:0E

Sync Error

 

boolean

RO

0x00 (0dec)

Index 6010 DO Inputs Ch.2

Index

Name

Meaning

Data type

Flags

Default

6010:0

DO Inputs Ch.2

 

UINT8

RO

0x0E (14dec)

6010:01

Input 1

 

boolean

RO

0x00 (0dec)

6010:02

Input 2

 

boolean

RO

0x00 (0dec)

6010:03

Input 3

 

boolean

RO

0x00 (0dec)

6010:04

Input 4

 

boolean

RO

0x00 (0dec)

6010:05

Input 5

 

boolean

RO

0x00 (0dec)

6010:06

Input 6

 

boolean

RO

0x00 (0dec)

6010:07

Input 7

 

boolean

RO

0x00 (0dec)

6010:08

Input 8

 

boolean

RO

0x00 (0dec)

6010:0E

Sync Error

 

boolean

RO

0x00 (0dec)

Index F000 Modular device profile

Index

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

0x0002 (2dec)

Index F008 Code word

Index

Name

Meaning

Data type

Flags

Default

F008:0

Code word

 

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index

Name

Meaning

Data type

Flags

Default

F010:0

Module list

 

UINT8

RW

0x02 (2dec)

F010:01

SubIndex 001

 

UINT32

RW

0x00000118 (280dec)

F010:02

SubIndex 002

 

UINT32

RW

0x00000118 (280dec)