Object description and parameterization

Object description and parameterization 1:

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).

Object description and parameterization 2:

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:

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)

Index 8020 DIG Safe state active Ch.3

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

8020:0

DIG Safe state active

 

UINT8

RO

0x08 (8dec)

8020:01

Output 17

0bin: DIG Safe state for output 17 is switched off

1bin: DIG Safe state for output 17 is switched on

boolean

RW

1bin

8020:02

Output 18

0bin: DIG Safe state for output 18 is switched off

1bin: DIG Safe state for output 18 is switched on

boolean

RW

1bin

8020:03

Output 19

0bin: DIG Safe state for output 19 is switched off

1bin: DIG Safe state for output 19 is switched on

boolean

RW

1bin

8020:04

Output 20

0bin: DIG Safe state for output 20 is switched off

1bin: DIG Safe state for output 20 is switched on

boolean

RW

1bin

8020:05

Output 21

0bin: DIG Safe state for output 21 is switched off

1bin: DIG Safe state for output 21 is switched on

boolean

RW

1bin

8020:06

Output 22

0bin: DIG Safe state for output 22 is switched off

1bin: DIG Safe state for output 22 is switched on

boolean

RW

1bin

8020:07

Output 23

0bin: DIG Safe state for output 23 is switched off

1bin: DIG Safe state for output 23 is switched on

boolean

RW

1bin

8020:08

Output 24

0bin: DIG Safe state for output 24 is switched off

1bin: DIG Safe state for output 24 is switched on

boolean

RW

1bin

Index 8021 DIG Safe state value Ch.3

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

8021:0

DIG Safe state value

 

UINT8

RO

0x08 (8dec)

8021:01

Output 17

0bin: DIG Safe state value for output 17 = 0

1bin: DIG Safe state value for output 17 = 1

boolean

RW

0bin

8021:02

Output 18

0bin: DIG Safe state value for output 18 = 0

1bin: DIG Safe state value for output 18 = 1

boolean

RW

0bin

8021:03

Output 19

0bin: DIG Safe state value for output 19 = 0

1bin: DIG Safe state value for output 19 = 1

boolean

RW

0bin

8021:04

Output 20

0bin: DIG Safe state value for output 20 = 0

1bin: DIG Safe state value for output 20 = 1

boolean

RW

0bin

8021:05

Output 21

0bin: DIG Safe state value for output 21 = 0

1bin: DIG Safe state value for output 21 = 1

boolean

RW

0bin

8021:06

Output 22

0bin: DIG Safe state value for output 22 = 0

1bin: DIG Safe state value for output 22 = 1

boolean

RW

0bin

8021:07

Output 23

0bin: DIG Safe state value for output 23 = 0

1bin: DIG Safe state value for output 23 = 1

boolean

RW

0bin

8021:08

Output 24

0bin: DIG Safe state value for output 24 = 0

1bin: DIG Safe state value for output 24 = 1

boolean

RW

0bin

Further objects

Standard objects (0x1000-0x1FFF)

The standard objects of all EtherCAT slaves have the same Meaning.

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 supported CoE Profile (5001). The Hi-Word contains the Module Profile corresponding 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

EP2817-0008

Index 1009 Hardware version

Index

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slaves

string

RO

 

Index 100A Software version

Index

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slaves

string

RO

00

Index 1018 Identity

Index

Name

Meaning

Data type

Flags

Default

1018:0

Identity

contains information to identify the EtherCAT 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

0x0B014052 (184631378dec)

1018:03

Revision

Revision number of the EtherCAT-Slave, the Lo-Word (Bit 0-15) indicates the special functions terminal number; the Hi-Word (Bit 16-31) refers to the device description.

UINT32

RO

0x00000000 (0dec)

1018:04

Serial number

Serial number of the EtherCAT-Slave, the Lo-Byte (Bit 0-7) of the Lo-Word contains the year of manufacturing, the Hi-Byte (Bit 8-15) of the Lo-Word contains the week of manufacturing, the Hi-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

contains information for the standardized Upload and Download of the Backup Entries

UINT8

RO

0x01 (1dec)

10F0:01

Checksum

Checksum over all backup entries

UINT32

RO

0x00000000 (0dec)

Index 1600 DIG RxPDO-Map OutputsCh.1

Index

Name

Meaning

Data type

Flags

Default

1600:0

DIG RxPDO-Map OutputsCh.1

PDO Mapping RxPDO 1

UINT8

RO

0x09 (9dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (DIG Outputs Ch.1), entry 0x01 (Output 1))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (DIG Outputs Ch.1), entry 0x02 (Output 2))

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (DIG Outputs Ch.1), entry 0x03 (Output 3))

UINT32

RO

0x7000:03, 1

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (DIG Outputs Ch.1), entry 0x04 (Output 4))

UINT32

RO

0x7000:04, 1

1600:05

SubIndex 005

5. PDO Mapping entry (object 0x7000 (DIG Outputs Ch.1), entry 0x05 (Output 5))

UINT32

RO

0x7000:05, 1

1600:06

SubIndex 006

6. PDO Mapping entry (object 0x7000 (DIG Outputs Ch.1), entry 0x06 (Output 6))

UINT32

RO

0x7000:06, 1

1600:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (DIG Outputs Ch.1), entry 0x07 (Output 7))

UINT32

RO

0x7000:07, 1

1600:08

SubIndex 008

8. PDO Mapping entry (object 0x7000 (DIG 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 OutputsCh.2

Index

Name

Meaning

Data type

Flags

Default

1601:0

DIG RxPDO-Map OutputsCh.2

PDO Mapping RxPDO 2

UINT8

RO

0x09 (9dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DIG Outputs Ch.2), entry 0x01 (Output 1))

UINT32

RO

0x7010:01, 1

1601:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (DIG Outputs Ch.2), entry 0x02 (Output 2))

UINT32

RO

0x7010:02, 1

1601:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (DIG Outputs Ch.2), entry 0x03 (Output 3))

UINT32

RO

0x7010:03, 1

1601:04

SubIndex 004

4. PDO Mapping entry (object 0x7010 (DIG Outputs Ch.2), entry 0x04 (Output 4))

UINT32

RO

0x7010:04, 1

1601:05

SubIndex 005

5. PDO Mapping entry (object 0x7010 (DIG Outputs Ch.2), entry 0x05 (Output 5))

UINT32

RO

0x7010:05, 1

1601:06

SubIndex 006

6. PDO Mapping entry (object 0x7010 (DIG Outputs Ch.2), entry 0x06 (Output 6))

UINT32

RO

0x7010:06, 1

1601:07

SubIndex 007

7. PDO Mapping entry (object 0x7010 (DIG Outputs Ch.2), entry 0x07 (Output 7))

UINT32

RO

0x7010:07, 1

1601:08

SubIndex 008

8. PDO Mapping entry (object 0x7010 (DIG 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 OutputsCh.3

Index

Name

Meaning

Data type

Flags

Default

1602:0

DIG RxPDO-Map OutputsCh.3

PDO Mapping RxPDO 3

UINT8

RO

0x09 (9dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (DIG Outputs Ch.3), entry 0x01 (Output 1))

UINT32

RO

0x7020:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7020 (DIG Outputs Ch.3), entry 0x02 (Output 2))

UINT32

RO

0x7020:02, 1

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7020 (DIG Outputs Ch.3), entry 0x03 (Output 3))

UINT32

RO

0x7020:03, 1

1602:04

SubIndex 004

4. PDO Mapping entry (object 0x7020 (DIG Outputs Ch.3), entry 0x04 (Output 4))

UINT32

RO

0x7020:04, 1

1602:05

SubIndex 005

5. PDO Mapping entry (object 0x7020 (DIG Outputs Ch.3), entry 0x05 (Output 5))

UINT32

RO

0x7020:05, 1

1602:06

SubIndex 006

6. PDO Mapping entry (object 0x7020 (DIG Outputs Ch.3), entry 0x06 (Output 6))

UINT32

RO

0x7020:06, 1

1602:07

SubIndex 007

7. PDO Mapping entry (object 0x7020 (DIG Outputs Ch.3), entry 0x07 (Output 7))

UINT32

RO

0x7020:07, 1

1602:08

SubIndex 008

8. PDO Mapping entry (object 0x7020 (DIG Outputs Ch.3), entry 0x08 (Output 8))

UINT32

RO

0x7020:08, 1

1602:09

SubIndex 009

9. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

Index 1603 DIG RxPDO-Map Outputs Device

Index

Name

Meaning

Data type

Flags

Default

1603:0

DIG RxPDO-Map Outputs Device

PDO Mapping RxPDO 4

UINT8

RO

0x03 (3dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0xF700 (DIG Outputs), entry 0x01 (Set safe state))

UINT32

RO

0xF700:01, 1

1603:02

SubIndex 002

2. PDO Mapping entry (object 0xF700 (DIG Outputs), entry 0x02 (Reset outputs))

UINT32

RO

0xF700:02, 1

1603:03

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 0x6001 (DIG Diag Inputs Ch.1), entry 0x01 (Diag Input 1))

UINT32

RO

0x6001:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6001 (DIG Diag Inputs Ch.1), entry 0x02 (Diag Input 2))

UINT32

RO

0x6001:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6001 (DIG Diag Inputs Ch.1), entry 0x03 (Diag Input 3))

UINT32

RO

0x6001:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6001 (DIG Diag Inputs Ch.1), entry 0x04 (Diag Input 4))

UINT32

RO

0x6001:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6001 (DIG Diag Inputs Ch.1), entry 0x05 (Diag Input 5))

UINT32

RO

0x6001:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6001 (DIG Diag Inputs Ch.1), entry 0x06 (Diag Input 6))

UINT32

RO

0x6001:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6001 (DIG Diag Inputs Ch.1), entry 0x07 (Diag Input 7))

UINT32

RO

0x6001:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6001 (DIG Diag Inputs Ch.1), entry 0x08 (Diag Input 8))

UINT32

RO

0x6001:08, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (8 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 0x6011 (DIG Diag Inputs Ch.2), entry 0x01 (Diag Input 1))

UINT32

RO

0x6011:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6011 (DIG Diag Inputs Ch.2), entry 0x02 (Diag Input 2))

UINT32

RO

0x6011:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6011 (DIG Diag Inputs Ch.2), entry 0x03 (Diag Input 3))

UINT32

RO

0x6011:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6011 (DIG Diag Inputs Ch.2), entry 0x04 (Diag Input 4))

UINT32

RO

0x6011:04, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6011 (DIG Diag Inputs Ch.2), entry 0x05 (Diag Input 5))

UINT32

RO

0x6011:05, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6011 (DIG Diag Inputs Ch.2), entry 0x06 (Diag Input 6))

UINT32

RO

0x6011:06, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6011 (DIG Diag Inputs Ch.2), entry 0x07 (Diag Input 7))

UINT32

RO

0x6011:07, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6011 (DIG Diag Inputs Ch.2), entry 0x08 (Diag Input 8))

UINT32

RO

0x6011:08, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

Index 1A02 DIG TxPDO-Map Diag Inputs Ch.3

Index

Name

Meaning

Data type

Flags

Default

1A02:0

DIG TxPDO-Map Diag Inputs Ch.3

PDO Mapping TxPDO 3

UINT8

RO

0x09 (9dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6021 (DIG Diag Inputs Ch.3), entry 0x01 (Diag Input 1))

UINT32

RO

0x6021:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6021 (DIG Diag Inputs Ch.3), entry 0x02 (Diag Input 2))

UINT32

RO

0x6021:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6021 (DIG Diag Inputs Ch.3), entry 0x03 (Diag Input 3))

UINT32

RO

0x6021:03, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6021 (DIG Diag Inputs Ch.3), entry 0x04 (Diag Input 4))

UINT32

RO

0x6021:04, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6021 (DIG Diag Inputs Ch.3), entry 0x05 (Diag Input 5))

UINT32

RO

0x6021:05, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6021 (DIG Diag Inputs Ch.3), entry 0x06 (Diag Input 6))

UINT32

RO

0x6021:06, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6021 (DIG Diag Inputs Ch.3), entry 0x07 (Diag Input 7))

UINT32

RO

0x6021:07, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x6021 (DIG Diag Inputs Ch.3), entry 0x08 (Diag Input 8))

UINT32

RO

0x6021:08, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

Index 1A03 DIG TxPDO-Map Inputs Device

Index

Name

Meaning

Data type

Flags

Default

1A03:0

DIG TxPDO-Map Inputs Device

PDO Mapping TxPDO 4

UINT8

RO

0x0A (10dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x01 (Safe state active))

UINT32

RO

0xF600:01, 1

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x02 (Error channel 1))

UINT32

RO

0xF600:02, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x03 (Error channel 2))

UINT32

RO

0xF600:03, 1

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x04 (Error channel 3))

UINT32

RO

0xF600:04, 1

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x05 (Us Undervoltage))

UINT32

RO

0xF600:05, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x06 (Up Undervoltage))

UINT32

RO

0xF600:06, 1

1A03:07

SubIndex 007

7. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A03:08

SubIndex 008

8. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x0E (Sync error))

UINT32

RO

0xF600:0E, 1

1A03:09

SubIndex 009

9. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A03:0A

SubIndex 010

10. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0xF600:10, 1

Index 1C00 Sync manager type

Index

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Usage of the Sync Manager channels

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

0x04 (4dec)

1C12:01

Subindex 001

1. assigned RxPDO (contains the index of the corresponding RxPDO Mapping object)

UINT16

RW

0x1600 (5632dec)

1C12:02

Subindex 002

2. assigned RxPDO (contains the index of the corresponding RxPDO Mapping object)

UINT16

RW

0x1601 (5633dec)

1C12:03

Subindex 003

3. assigned RxPDO (contains the index of the corresponding RxPDO Mapping object)

UINT16

RW

0x1602 (5634dec)

1C12:04

Subindex 004

4. assigned RxPDO (contains the index of the corresponding RxPDO Mapping object)

UINT16

RW

0x1603 (5635dec)

Index 1C13 TxPDO assign

Index

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x04 (4dec)

1C13:01

Subindex 001

1. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1A00 (6656dec)

1C13:02

Subindex 002

2. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1A01 (6657dec)

1C13:03

Subindex 003

3. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1A02 (6658dec)

1C13:04

Subindex 004

4. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1A03 (6659dec)

Index 1C32SM Output parameter

Index

Name

Meaning

Data type

Flags

Default

1C32:0

SM output parameter

Synchronization parameter of the outputs

UINT8

RO

0x20 (32dec)

1C32:01

Sync mode

actual synchronization mode:

  • 0: Free Run
  • 1: Synchronous with SM 2 Event
  • 2: DC-Mode - Synchronous with SYNC0 Event
  • 3: DC-Mode - Synchronous with SYNC1 Event

UINT16

RW

0x0001 (1dec)

1C32:02

Cycle time

Cycle time (in ns):

  • Free Run: cycle time of the local timer
  • Synchronous with SM 2 Event: Cycle time of the master
  • DC mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x003D0900 (4000000dec)

1C32:03

Shift time

Time between SYNC0 Event and Outputs Valid (in ns, only in DC-Mode)

UINT32

RO

0x00000000 (0dec)

1C32:04

Sync modes supported

Supported synchronization modes:

  • Bit 0 = 1: Free Run is supported
  • Bit 1 = 1: Synchronous with SM 2 Event is supported
  • Bit 2-3 = 01: DC mode is supported
  • Bit 4-5 = 10: Output Shift with SYNC1 Event (only DC-Mode)
  • Bit 14 = 1: dynamic times (could be measured by writing 1C32:08)

UINT16

RO

0x000A (10dec)

1C32:05

Minimum cycle time

Minimum cycle time supported (in ns)

UINT32

RO

0x000493E0 (300000dec)

1C32:06

Calc and copy time

Minimal time between SYNC0 and SYNC1 Event (in ns, only in DC-Mode)

UINT32

RO

0x00000000 (0dec)

1C32:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C32:08

Command
  • 0: Measurement of the times will be stopped
  • 1: Measurement of the times will be started

The Entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 1C33:09 will be updated with the maximum measured values.

UINT16

RW

0x0000 (0dec)

1C32:09

Maximum delay time

Time between SYNC1 Event and Outputs Valid (in ns, only in DC-Mode)

UINT32

RO

0x00000000 (0dec)

1C32:0B

SM event missed counter

Number of the missed SM-Events in state OPERATIONAL (only in DC Mode)

UINT16

RO

0x0000 (0dec)

1C32:0C

Cycle exceeded counter

Number of exceeded cycles in state OPERATIONAL

UINT16

RO

0x0000 (0dec)

1C32:0D

Shift too short counter

Number of inadequate distances between SYNC0 and SYNC1 events (only in DC Mode)

UINT16

RO

0x0000 (0dec)

1C32:20

Sync error

TRUE: In the last cycle the synchronization was not correct (only in DC Mode)

boolean

RO

0x00 (0dec)

Index 1C33 SM input parameter

Index

Name

Meaning

Data type

Flags

Default

1C33:0

SM input parameter

Synchronization parameter of the inputs

UINT8

RO

0x20 (32dec)

1C33:01

Sync mode

actual synchronization mode:

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

UINT16

RW

0x0022 (34dec)

1C33:02

Cycle time

same as 1C32:02

UINT32

RW

0x003D0900 (4000000dec)

1C33:03

Shift time

time between SYNC0-Event and Input Latch (in ns, only in DC-Mode)

UINT32

RO

0x00000000 (0dec)

1C33:04

Sync modes supported

Supported synchronization modes:

  • Bit 0: Free Run is supported
  • 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 4-5 = 01: Input Shift with local event (Outputs available)
  • Bit 4-5 = 10: Input Shift with SYNC1 Event (no Outputs available)
  • Bit 14 = 1: dynamic times (could be measured by writing 1C32:08 or 1C33:08)

UINT16

RO

0x000A (10dec)

1C33:05

Minimum cycle time

same as 1C32:05

UINT32

RO

0x000493E0 (300000dec)

1C33:06

Calc and copy time

time between Input Latch and the availability of the inputs for the master (in ns, only in DC-Mode)

UINT32

RO

0x00000000 (0dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C33:08

Command

same as 1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

Maximum delay time

time between SYNC1-Event and Input Latch (in ns, only in DC-Mode)

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

same as 1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

same as 1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

same as 1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

same as 1C32:32

boolean

RO

0x00 (0dec)

Profile specific objects (0x6000-0xFFFF)

The profile specific objects have the same meaning for all EtherCAT Slaves which 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 6021 DIG Diag Inputs Ch.3

Index

Name

Meaning

Data type

Flags

Default

6021:0

DIG Diag Inputs Ch.3

 

UINT8

RO

0x08 (8dec)

6021:01

Diag Input 1

 

boolean

RO

0x00 (0dec)

6021:02

Diag Input 2

 

boolean

RO

0x00 (0dec)

6021:03

Diag Input 3

 

boolean

RO

0x00 (0dec)

6021:04

Diag Input 4

 

boolean

RO

0x00 (0dec)

6021:05

Diag Input 5

 

boolean

RO

0x00 (0dec)

6021:06

Diag Input 6

 

boolean

RO

0x00 (0dec)

6021:07

Diag Input 7

 

boolean

RO

0x00 (0dec)

6021:08

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 7020 DIG Outputs Ch.3

Index

Name

Meaning

Data type

Flags

Default

7020:0

DIG Outputs Ch.3

 

UINT8

RO

0x08 (8dec)

7020:01

Output 1

 

boolean

RO

0x00 (0dec)

7020:02

Output 2

 

boolean

RO

0x00 (0dec)

7020:03

Output 3

 

boolean

RO

0x00 (0dec)

7020:04

Output 4

 

boolean

RO

0x00 (0dec)

7020:05

Output 5

 

boolean

RO

0x00 (0dec)

7020:06

Output 6

 

boolean

RO

0x00 (0dec)

7020:07

Output 7

 

boolean

RO

0x00 (0dec)

7020:08

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 about the Modular Device Profile

UINT8

RO

0x02 (2dec)

F000:01

Module index distance

Index distance between the objects of two channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

number of channels

UINT16

RO

0x0003 (3dec)

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

0x03 (3dec)

F010:01

SubIndex 001

 

UINT32

RW

0x00000118 (280dec)

F010:02

SubIndex 002

 

UINT32

RW

0x00000118 (280dec)

F010:03

SubIndex 003

 

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)

F600:04

Error channel 3

 

boolean

RO

0x00 (0dec)

F600:05

Us Undervoltage

 

boolean

RO

0x00 (0dec)

F600:06

Up Undervoltage

 

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

0x000A (10dec)