Object description and parameterization
Parameterization The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (assignment of PDOs). |
EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. It is strongly recommended to download the latest revision of the corresponding XML file from the Beckhoff website (http://www.beckhoff.com/english/default.htm?download/elconfg.htm) and follow the installation instructions. |
Introduction
The CoE overview contains objects for different intended applications:
- Objects required for parameterization during commissioning
- Objects intended for regular operation, e.g. through ADS access
- Objects for indicating internal settings (may be fixed)
- Further profile-specific objects indicating inputs, outputs and status information
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
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) |
Index 8000 DIG Safe state active Ch.1
The outputs for which the DIG Safe state active bit is set are switched to the values specified in Safe state value in the event that the Operational (OP) status is left.
Status Operational (OP) is left if communication to the master is interrupted, for example at power breakdown at the master or cable breakage.
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
8000:0 |
DIG Safe state active |
|
UINT8 |
RO |
0x08 (8dec) |
8000:01 |
Output 1 |
0bin: DIG Safe state for output 1 is switched off 1bin: DIG Safe state for output 1 is switched on |
boolean |
RW |
1bin |
8000:02 |
Output 2 |
0bin: DIG Safe state for output 2 is switched off 1bin: DIG Safe state for output 2 is switched on |
boolean |
RW |
1bin |
8000:03 |
Output 3 |
0bin: DIG Safe state for output 3 is switched off 1bin: DIG Safe state for output 3 is switched on |
boolean |
RW |
1bin |
8000:04 |
Output 4 |
0bin: DIG Safe state for output 4 is switched off 1bin: DIG Safe state for output 4 is switched on |
boolean |
RW |
1bin |
8000:05 |
Output 5 |
0bin: DIG Safe state for output 5 is switched off 1bin: DIG Safe state for output 5 is switched on |
boolean |
RW |
1bin |
8000:06 |
Output 6 |
0bin: DIG Safe state for output 6 is switched off 1bin: DIG Safe state for output 6 is switched on |
boolean |
RW |
1bin |
8000:07 |
Output 7 |
0bin: DIG Safe state for output 7 is switched off 1bin: DIG Safe state for output 7 is switched on |
boolean |
RW |
1bin |
8000:08 |
Output 8 |
0bin: DIG Safe state for output 8 is switched off 1bin: DIG Safe state for output 8 is switched on |
boolean |
RW |
1bin |
Index 8001 DIG Safe state value Ch.1
The values to which the outputs are switched when the status Operational (OP) is left are specified here.
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
8001:0 |
DIG Safe state value |
|
UINT8 |
RO |
0x08 (8dec) |
8001:01 |
Output 1 |
0bin: DIG Safe state value for output 1 = 0 1bin: DIG Safe state value for output 1 = 1 |
boolean |
RW |
0x00 (0dec) |
8001:02 |
Output 2 |
0bin: DIG Safe state value for output 2 = 0 1bin: DIG Safe state value for output 2 = 1 |
boolean |
RW |
0x00 (0dec) |
8001:03 |
Output 3 |
0bin: DIG Safe state value for output 3 = 0 1bin: DIG Safe state value for output 3 = 1 |
boolean |
RW |
0x00 (0dec) |
8001:04 |
Output 4 |
0bin: DIG Safe state value for output 4 = 0 1bin: DIG Safe state value for output 4 = 1 |
boolean |
RW |
0x00 (0dec) |
8001:05 |
Output 5 |
0bin: DIG Safe state value for output 5 = 0 1bin: DIG Safe state value for output 5 = 1 |
boolean |
RW |
0x00 (0dec) |
8001:06 |
Output 6 |
0bin: DIG Safe state value for output 6 = 0 1bin: DIG Safe state value for output 6 = 1 |
boolean |
RW |
0x00 (0dec) |
8001:07 |
Output 7 |
0bin: DIG Safe state value for output 7 = 0 1bin: DIG Safe state value for output 7 = 1 |
boolean |
RW |
0x00 (0dec) |
8001:08 |
Output 8 |
0bin: DIG Safe state value for output 8 = 0 1bin: DIG Safe state value for output 8 = 1 |
boolean |
RW |
0x00 (0dec) |
Index 8010 DIG Safe state active Ch.2
The outputs for which the DIG Safe state active bit is set are switched to the values specified in Safe state value in the event that the Operational (OP) status is left.
Status Operational (OP) is left if communication to the master is interrupted, for example at power breakdown at the master or wire breakage.
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
8010:0 |
DIG Safe state active |
|
UINT8 |
RO |
0x08 (8dec) |
8010:01 |
Output 9 |
0bin: DIG Safe state for output 9 is switched off 1bin: DIG Safe state for output 9 is switched on |
boolean |
RW |
1bin |
8010:02 |
Output 10 |
0bin: DIG Safe state for output 10 is switched off 1bin: DIG Safe state for output 10 is switched on |
boolean |
RW |
1bin |
8010:03 |
Output 11 |
0bin: DIG Safe state for output 11 is switched off 1bin: DIG Safe state for output 11 is switched on |
boolean |
RW |
1bin |
8010:04 |
Output 12 |
0bin: DIG Safe state for output 12 is switched off 1bin: DIG Safe state for output 12 is switched on |
boolean |
RW |
1bin |
8010:05 |
Output 13 |
0bin: DIG Safe state for output 13 is switched off 1bin: DIG Safe state for output 13 is switched on |
boolean |
RW |
1bin |
8010:06 |
Output 14 |
0bin: DIG Safe state for output 14 is switched off 1bin: DIG Safe state for output 14 is switched on |
boolean |
RW |
1bin |
8010:07 |
Output 15 |
0bin: DIG Safe state for output 15 is switched off 1bin: DIG Safe state for output 15 is switched on |
boolean |
RW |
1bin |
8010:08 |
Output 16 |
0bin: DIG Safe state for output 16 is switched off 1bin: DIG Safe state for output 16 is switched on |
boolean |
RW |
1bin |
Index 8011 DIG Safe state value Ch.2
The values to which the outputs are switched when the status Operational (OP) is left are specified here.
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
8011:0 |
DIG Safe state value |
|
UINT8 |
RO |
0x08 (8dec) |
8011:01 |
Output 9 |
0bin: DIG Safe state value for output 9 = 0 1bin: DIG Safe state value for output 9 = 1 |
boolean |
RW |
0x00 (0dec) |
8011:02 |
Output 10 |
0bin: DIG Safe state value for output 10 = 0 1bin: DIG Safe state value for output 10 = 1 |
boolean |
RW |
0x00 (0dec) |
8011:03 |
Output 11 |
0bin: DIG Safe state value for output 11 = 0 1bin: DIG Safe state value for output 11 = 1 |
boolean |
RW |
0x00 (0dec) |
8011:04 |
Output 12 |
0bin: DIG Safe state value for output 12 = 0 1bin: DIG Safe state value for output 12 = 1 |
boolean |
RW |
0x00 (0dec) |
8011:05 |
Output 13 |
0bin: DIG Safe state value for output 13 = 0 1bin: DIG Safe state value for output 13 = 1 |
boolean |
RW |
0x00 (0dec) |
8011:06 |
Output 14 |
0bin: DIG Safe state value for output 14 = 0 1bin: DIG Safe state value for output 14 = 1 |
boolean |
RW |
0x00 (0dec) |
8011:07 |
Output 15 |
0bin: DIG Safe state value for output 15 = 0 1bin: DIG Safe state value for output 15 = 1 |
boolean |
RW |
0x00 (0dec) |
8011:08 |
Output 16 |
0bin: DIG Safe state value for output 16 = 0 1bin: DIG Safe state value for output 16 = 1 |
boolean |
RW |
0x00 (0dec) |
Objects for regular operation
The EP2xxx have 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 CoE profile used (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 |
EP2816-0008 |
Index 1009 Hardware version
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1009:0 |
Hardware version |
Hardware version of the EtherCAT slave |
string |
RO |
02 |
Index 100A Software Version
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
100A:0 |
Software version |
Firmware version of the EtherCAT slave |
string |
RO |
05 |
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 |
0x0B004052 (184565842dec) |
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 |
0x00130008 (1245192dec) |
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 1600 DIG RxPDO-Map Outputs Ch.1
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1600:0 |
DIG RxPDO-Map Outputs Ch.1 |
PDO Mapping RxPDO 1 |
UINT8 |
RO |
0x09 (9dec) |
1600:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x01 (Output 1)) |
UINT32 |
RO |
0x7000:01, 1 |
1600:02 |
SubIndex 002 |
2. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x02 (Output 2)) |
UINT32 |
RO |
0x7000:02, 1 |
1600:03 |
SubIndex 003 |
3. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x03 (Output 3)) |
UINT32 |
RO |
0x7000:03, 1 |
1600:04 |
SubIndex 004 |
4. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x04 (Output 4)) |
UINT32 |
RO |
0x7000:04, 1 |
1600:05 |
SubIndex 005 |
5. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x05 (Output 5)) |
UINT32 |
RO |
0x7000:05, 1 |
1600:06 |
SubIndex 006 |
6. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x06 (Output 6)) |
UINT32 |
RO |
0x7000:06, 1 |
1600:07 |
SubIndex 007 |
7. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x07 (Output 7)) |
UINT32 |
RO |
0x7000:07, 1 |
1600:08 |
SubIndex 008 |
8. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x08 (Output 8)) |
UINT32 |
RO |
0x7000:08, 1 |
1600:09 |
SubIndex 009 |
9. PDO Mapping entry (8 bits align) |
UINT32 |
RO |
0x0000:00, 8 |
Index 1601 DIG RxPDO-Map Outputs Ch.2
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1601:0 |
DIG RxPDO-Map Outputs Ch.2 |
PDO Mapping RxPDO 2 |
UINT8 |
RO |
0x09 (9dec) |
1601:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x01 (Output 1)) |
UINT32 |
RO |
0x7010:01, 1 |
1601:02 |
SubIndex 002 |
2. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x02 (Output 2)) |
UINT32 |
RO |
0x7010:02, 1 |
1601:03 |
SubIndex 003 |
3. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x03 (Output 3)) |
UINT32 |
RO |
0x7010:03, 1 |
1601:04 |
SubIndex 004 |
4. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x04 (Output 4)) |
UINT32 |
RO |
0x7010:04, 1 |
1601:05 |
SubIndex 005 |
5. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x05 (Output 5)) |
UINT32 |
RO |
0x7010:05, 1 |
1601:06 |
SubIndex 006 |
6. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x06 (Output 6)) |
UINT32 |
RO |
0x7010:06, 1 |
1601:07 |
SubIndex 007 |
7. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x07 (Output 7)) |
UINT32 |
RO |
0x7010:07, 1 |
1601:08 |
SubIndex 008 |
8. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x08 (Output 8)) |
UINT32 |
RO |
0x7010:08, 1 |
1601:09 |
SubIndex 009 |
9. PDO Mapping entry (8 bits align) |
UINT32 |
RO |
0x0000:00, 8 |
Index 1602 DIG RxPDO-Map Outputs Device
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1602:0 |
DIG RxPDO-Map Outputs Device |
PDO Mapping RxPDO 3 |
UINT8 |
RO |
0x03 (3dec) |
1602:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0xF700 (DO Outputs), entry 0x01 (Set safe state)) |
UINT32 |
RO |
0xF700:01, 1 |
1602:02 |
SubIndex 002 |
2. PDO Mapping entry (object 0xF700 (DO Outputs), entry 0x02 (Reset outputs)) |
UINT32 |
RO |
0xF700:02, 1 |
1602:03 |
SubIndex 003 |
3. PDO Mapping entry (14 bits align) |
UINT32 |
RO |
0x0000:00, 14 |
Index 1A00 DIG TxPDO-Map Diag Inputs Ch.1
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A00:0 |
DIG TxPDO-Map Diag Inputs Ch.1 |
PDO Mapping TxPDO 1 |
UINT8 |
RO |
0x09 (9dec) |
1A00:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x01 (Input 1)) |
UINT32 |
RO |
0x6001:01, 1 |
1A00:02 |
SubIndex 002 |
2. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x02 (Input 2)) |
UINT32 |
RO |
0x6001:02, 1 |
1A00:03 |
SubIndex 003 |
3. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x03 (Input 3)) |
UINT32 |
RO |
0x6001:03, 1 |
1A00:04 |
SubIndex 004 |
4. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x04 (Input 4)) |
UINT32 |
RO |
0x6001:04, 1 |
1A00:05 |
SubIndex 005 |
5. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x05 (Input 5)) |
UINT32 |
RO |
0x6001:05, 1 |
1A00:06 |
SubIndex 006 |
6. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x06 (Input 6)) |
UINT32 |
RO |
0x6001:06, 1 |
1A00:07 |
SubIndex 007 |
7. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x07 (Input 7)) |
UINT32 |
RO |
0x6001:07, 1 |
1A00:08 |
SubIndex 008 |
8. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x08 (Input 8)) |
UINT32 |
RO |
0x6001:08, 1 |
1A00:09 |
SubIndex 009 |
9. PDO Mapping entry (5 bits align) |
UINT32 |
RO |
0x0000:00, 8 |
Index 1A01 DIG TxPDO-Map Diag Inputs Ch.2
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A01:0 |
DIG TxPDO-Map Diag Inputs Ch.2 |
PDO Mapping TxPDO 2 |
UINT8 |
RO |
0x09 (9dec) |
1A01:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x01 (Input 1)) |
UINT32 |
RO |
0x6011:01, 1 |
1A01:02 |
SubIndex 002 |
2. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x02 (Input 2)) |
UINT32 |
RO |
0x6011:02, 1 |
1A01:03 |
SubIndex 003 |
3. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x03 (Input 3)) |
UINT32 |
RO |
0x6011:03, 1 |
1A01:04 |
SubIndex 004 |
4. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x04 (Input 4)) |
UINT32 |
RO |
0x6011:04, 1 |
1A01:05 |
SubIndex 005 |
5. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x05 (Input 5)) |
UINT32 |
RO |
0x6011:05, 1 |
1A01:06 |
SubIndex 006 |
6. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x06 (Input 6)) |
UINT32 |
RO |
0x6011:06, 1 |
1A01:07 |
SubIndex 007 |
7. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x07 (Input 7)) |
UINT32 |
RO |
0x6011:07, 1 |
1A01:08 |
SubIndex 008 |
8. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x08 (Input 8)) |
UINT32 |
RO |
0x6011:08, 1 |
1A01:09 |
SubIndex 009 |
9. PDO Mapping entry (5 bits align) |
UINT32 |
RO |
0x0000:00, 8 |
Index 1A02 DIG TxPDO-Map Inputs Device
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A02:0 |
DIG TxPDO-Map Inputs Device |
PDO Mapping TxPDO 3 |
UINT8 |
RO |
0x07 (7dec) |
1A02:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0xF600 (DO Inputs), entry 0x01 (Safe state active)) |
UINT32 |
RO |
0xF600:01, 1 |
1A02:02 |
SubIndex 002 |
2. PDO Mapping entry (object 0xF600 (DO Inputs), entry 0x02 (Error channel 1)) |
UINT32 |
RO |
0xF600:02, 1 |
1A02:03 |
SubIndex 003 |
3. PDO Mapping entry (object 0xF600 (DO Inputs), entry 0x03 (Error channel 2)) |
UINT32 |
RO |
0xF600:03, 1 |
1A02:04 |
SubIndex 004 |
4. PDO Mapping entry (10 bits align) |
UINT32 |
RO |
0x0000:00, 10 |
1A02:05 |
SubIndex 005 |
5. PDO Mapping entry (object 0xF600 (DO Inputs), entry 0x0E (Sync Error)) |
UINT32 |
RO |
0x1C32:20, 1 |
1A02:06 |
SubIndex 006 |
6. PDO Mapping entry (1 bits align) |
UINT32 |
RO |
0x0000:00, 1 |
1A02:07 |
SubIndex 007 |
7. PDO Mapping entry (object 0x1800, entry 0x09) |
UINT32 |
RO |
0x1800:09, 1 |
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 |
RW |
0x03 (3dec) |
1C12:01 |
Subindex 001 |
1. allocated RxPDO (contains the index of the associated RxPDO mapping object) |
UINT16 |
RW |
0x1600 (5632dec) |
1C12:02 |
Subindex 002 |
2. allocated RxPDO (contains the index of the associated RxPDO mapping object) |
UINT16 |
RW |
0x1601 (5633dec) |
1C12:03 |
Subindex 003 |
3. allocated RxPDO (contains the index of the associated RxPDO mapping object) |
UINT16 |
RW |
0x1602 (5634dec) |
Index 1C13 TxPDO assign
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1C13:0 |
TxPDO assign |
PDO Assign Inputs |
UINT8 |
RW |
0x03 (3dec) |
1C13:01 |
Subindex 001 |
1. allocated TxPDO (contains the index of the associated TxPDO mapping object) |
UINT16 |
RW |
0x1A00 (6656dec) |
1C13:02 |
Subindex 002 |
2. allocated TxPDO (contains the index of the associated TxPDO mapping object) |
UINT16 |
RW |
0x1A01 (6657dec) |
1C13:03 |
Subindex 003 |
3. allocated TxPDO (contains the index of the associated TxPDO mapping object) |
UINT16 |
RW |
0x1A02 (6658dec) |
Index 1C32 SM output parameter
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1C32:0 |
SM output parameter |
Synchronization parameters for the outputs |
UINT8 |
RO |
0x20 (32dec) |
1C32:01 |
Sync mode |
Current synchronization mode:
|
UINT16 |
RW |
0x0001 (1dec) |
1C32:02 |
Cycle time |
Cycle time (in ns):
|
UINT32 |
RW |
0x000F4240 (1000000dec) |
1C32:03 |
Shift time |
Time between SYNC0 event and output of the outputs (in ns, DC mode only) |
UINT32 |
RO |
0x00020F58 (135000dec) |
1C32:04 |
Sync modes supported |
Supported synchronization modes:
|
UINT16 |
RO |
0xC007 (49159dec) |
1C32:05 |
Minimum cycle time |
Minimum cycle time (in ns) |
UINT32 |
RO |
0x00030D40 (200000dec) |
1C32:06 |
Calc and copy time |
Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only) |
UINT32 |
RO |
0x00000000 (0dec) |
1C32:07 |
Minimum delay time |
|
UINT32 |
RO |
0x00020F58 (135000dec) |
1C32:08 |
Command |
The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 1C33:09 are updated with the maximum measured values. |
UINT16 |
RW |
0x0000 (0dec) |
1C32:09 |
Maximum Delay time |
Time between SYNC1 event and output of the outputs (in ns, DC mode only) |
UINT32 |
RO |
0x00020F58 (135000dec) |
1C32:0B |
SM event missed counter |
Number of missed SM events in OPERATIONAL (DC mode only) |
UINT16 |
RO |
0x0000 (0dec) |
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 (0dec) |
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 (0dec) |
1C32:20 |
Sync error |
The synchronization was not correct in the last cycle (outputs were output too late; DC mode only) |
boolean |
RO |
0x00 (0dec) |
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:
|
UINT16 |
RW |
0x0022 (34dec) |
1C33:02 |
Cycle time |
as 1C32:02 |
UINT32 |
RW |
0x000F4240 (1000000dec) |
1C33:03 |
Shift time |
Time between SYNC0 event and reading of the inputs (in ns, only DC mode) |
UINT32 |
RO |
0x00000000 (0dec) |
1C33:04 |
Sync modes supported |
Supported synchronization modes:
|
UINT16 |
RO |
0xC007 (49159dec) |
1C33:05 |
Minimum cycle time |
as 1C32:05 |
UINT32 |
RO |
0x00030D40 (200000dec) |
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) |
1C33:07 |
Minimum delay time |
|
UINT32 |
RO |
0x00000000 (0dec) |
1C33:08 |
Command |
as 1C32:08 |
UINT16 |
RW |
0x0000 (0dec) |
1C33:09 |
Maximum 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 |
as 1C32:11 |
UINT16 |
RO |
0x0000 (0dec) |
1C33:0C |
Cycle exceeded counter |
as 1C32:12 |
UINT16 |
RO |
0x0000 (0dec) |
1C33:0D |
Shift too short counter |
as 1C32:13 |
UINT16 |
RO |
0x0000 (0dec) |
1C33:20 |
Sync error |
as 1C32:32 |
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 6001 DIG Diag Inputs Ch.1
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
6001:0 |
DIG Diag Inputs Ch.1 |
|
UINT8 |
RO |
0x08 (8dec) |
6001:01 |
Diag Input 1 |
|
boolean |
RO |
0x00 (0dec) |
6001:02 |
Diag Input 2 |
|
boolean |
RO |
0x00 (0dec) |
6001:03 |
Diag Input 3 |
|
boolean |
RO |
0x00 (0dec) |
6001:04 |
Diag Input 4 |
|
boolean |
RO |
0x00 (0dec) |
6001:05 |
Diag Input 5 |
|
boolean |
RO |
0x00 (0dec) |
6001:06 |
Diag Input 6 |
|
boolean |
RO |
0x00 (0dec) |
6001:07 |
Diag Input 7 |
|
boolean |
RO |
0x00 (0dec) |
6001:08 |
Diag Input 8 |
|
boolean |
RO |
0x00 (0dec) |
Index 6011 DIG Diag Inputs Ch.2
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
6011:0 |
DIG Diag Inputs Ch.2 |
|
UINT8 |
RO |
0x08 (8dec) |
6011:01 |
Diag Input 1 |
|
boolean |
RO |
0x00 (0dec) |
6011:02 |
Diag Input 2 |
|
boolean |
RO |
0x00 (0dec) |
6011:03 |
Diag Input 3 |
|
boolean |
RO |
0x00 (0dec) |
6011:04 |
Diag Input 4 |
|
boolean |
RO |
0x00 (0dec) |
6011:05 |
Diag Input 5 |
|
boolean |
RO |
0x00 (0dec) |
6011:06 |
Diag Input 6 |
|
boolean |
RO |
0x00 (0dec) |
6011:07 |
Diag Input 7 |
|
boolean |
RO |
0x00 (0dec) |
6011:08 |
Diag Input 8 |
|
boolean |
RO |
0x00 (0dec) |
Index 7000 DIG Outputs Ch.1
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
7000:0 |
DIG Outputs Ch.1 |
|
UINT8 |
RO |
0x08 (8dec) |
7000:01 |
Output 1 |
|
boolean |
RO |
0x00 (0dec) |
7000:02 |
Output 2 |
|
boolean |
RO |
0x00 (0dec) |
7000:03 |
Output 3 |
|
boolean |
RO |
0x00 (0dec) |
7000:04 |
Output 4 |
|
boolean |
RO |
0x00 (0dec) |
7000:05 |
Output 5 |
|
boolean |
RO |
0x00 (0dec) |
7000:06 |
Output 6 |
|
boolean |
RO |
0x00 (0dec) |
7000:07 |
Output 7 |
|
boolean |
RO |
0x00 (0dec) |
7000:08 |
Output 8 |
|
boolean |
RO |
0x00 (0dec) |
Index 7010 DIG Outputs Ch.2
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
7010:0 |
DIG Outputs Ch.2 |
|
UINT8 |
RO |
0x08 (8dec) |
7010:01 |
Output 1 |
|
boolean |
RO |
0x00 (0dec) |
7010:02 |
Output 2 |
|
boolean |
RO |
0x00 (0dec) |
7010:03 |
Output 3 |
|
boolean |
RO |
0x00 (0dec) |
7010:04 |
Output 4 |
|
boolean |
RO |
0x00 (0dec) |
7010:05 |
Output 5 |
|
boolean |
RO |
0x00 (0dec) |
7010:06 |
Output 6 |
|
boolean |
RO |
0x00 (0dec) |
7010:07 |
Output 7 |
|
boolean |
RO |
0x00 (0dec) |
7010:08 |
Output 8 |
|
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) |
Index F600 DIG Inputs
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
F600:0 |
DIG Inputs |
|
UINT8 |
RO |
0x10 (16dec) |
F600:01 |
Safe state active |
|
boolean |
RO |
0x00 (0dec) |
F600:02 |
Error channel 1 |
|
boolean |
RO |
0x00 (0dec) |
F600:03 |
Error channel 2 |
|
boolean |
RO |
0x00 (0dec) |
F600:0E |
Sync error |
|
boolean |
RO |
0x00 (0dec) |
F600:10 |
TxPDO Toggle |
|
boolean |
RO |
0x00 (0dec) |
Index F700 DIG Outputs
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
F700:0 |
DIG Outputs |
|
UINT8 |
RO |
0x02 (2dec) |
F700:01 |
Set safe state |
|
boolean |
RO |
0x00 (0dec) |
F700:02 |
Reset outputs |
|
boolean |
RO |
0x00 (0dec) |
Index F800 DIG Settings
Index |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
F800:0 |
DIG Settings |
|
UINT8 |
RO |
0x11 (17dec) |
F800:01 |
Disable shut off |
|
boolean |
RW |
0x00 (0dec) |
F800:11 |
Switch off time |
|
UINT16 |
RW |
0x03E8 (1000dec) |