EPP5001-0002

EPP5001-0002 1:

Parameterization

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

EPP5001-0002 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:

  • Objects required for parameterization during commissioning
  • Objects intended for regular operation, e.g. through ADS access.
  • Objects for indicating internal settings (may be fixed)

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

Index 1000 Device type

Index (hex)

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

0x01F51389 (32838537dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EPP5001-0002

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

-

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

-

Index 1011 Restore default parameters

Index (hex)

Name

Meaning

Data type

Flags

Default

1011:0

Restore default parameters

Restore default parameters

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 1018 Identity

Index (hex)

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

0x6476FE99 (1685520025dec)

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

0x00000000 (0dec)

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 (hex)

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 1800 SSI TxPDO-Par Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1801:0

SSI TxPDO-Par Inputs

PDO parameter TxPDO 1

UINT8

RO

0x06 (6dec)

1801:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1

OCTET-STRING[2]

RO

00 1A

Index 1A00 SSI TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

SSI TxPDO-Map Inputs

PDO Mapping TxPDO 1

UINT8

RO

0x08 (8dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x01 (Data error))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x02 (Frame error))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x03 (Power failure))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x0E (Sync error))

UINT32

RO

0x6000:0E, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6000:0F, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6000:10, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1C00 Sync manager type

Index (hex)

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 (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x00 (0dec)

Index 1C13 TxPDO assign

Index (hex)

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)

Index 1C33 SM input parameter

Index (hex)

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):

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

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:

  • 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 0x1C33:08)

UINT16

RO

0xC00B (49163dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00030D40 (0dec)

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

0x000001B0 (7600dec)

1C33:08

Command

With this entry the real required process data provision time can be measured.

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

The entries 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

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

0x000001B0 (7600dec)

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)

Index 6000 SSI Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

6000:0

SSI Inputs

Length of this object

UINT8

RO

0x11 (17dec)

6000:01

Data error

SSI input error:
- SSI without power supply
- Broken wire at SSI data inputs D+ or D-
- Data cables interchanged

If no data transmission occurs, the SSI input is on low signal level.

BOOLEAN

RO

0x00 (0dec)

6000:02

Frame error

The data frame is wrong, i.e. the data frame was not terminated with zero (perhaps wire breakage on clock cables)

BOOLEAN

RO

0x00 (0dec)

6000:03

Power failure

An encoder-specific error has occurred. This error bit is only displayed if it was previously enabled through Enable power failure bit index 0x8000:02.

BOOLEAN

RO

0x00 (0dec)

6000:0E

Sync error

The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle.

This means a SYNC signal was triggered in the Box, although no new process data were available (0=OK, 1=NOK).

BOOLEAN

RO

0x00 (0dec)

6000:0F

TxPDO State

Validity of the data of the associated TxPDO (0 = valid, 1 = invalid).

BOOLEAN

RO

0x00 (0dec)

6000:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

0x00 (0dec)

6000:11

Counter value

Counter value

UINT32

RO

0x00000000 (0dec)

Index 8000 SSI Settings

Index (hex)

Name

Meaning

Data type

Flags

Default

8000:0

SSI Settings

Length of this object

UINT8

RO

0x13 (19dec)

8000:01

Disable frame error

0: Frame error is not suppressed
1: Frame error is suppressed

BOOLEAN

RW

0x00 (0dec)

8000:02

Enable power failure bit

0: Power failure bit is not active
1: Power failure bit is active: The last bit of the data frame (sensor-specific error bit) is shown as error bit in the Power failure object (index 0x6000:03) and bit 2 of the status word.

BOOLEAN

RW

0x00 (0dec)

8000:03

Enable inhibit time

0: Inhibit time is not active
1: Inhibit time is active

BOOLEAN

RW

0x00 (0dec)

8000:04

Enable test mode

0: Test mode is not active
1: Test mode is active

BOOLEAN

RW

0x00 (0dec)

8000:06

SSI-coding

0: Binary code active
1: Gray code active

BIT1

RW

0x01 (1dec)

8000:09

SSI-baudrate

0: reserved
1: 1250 kbaud
2: 1000 kbaud
3: 500 kBaud
4: 250 kbaud
5: 125 kbaud
6 - 65535: reserved

BIT3

RW

0x03 (3dec)

8000:0F

SSI-frame type

0: Multi-turn analysis is active (25 bit data frame)
1: Single-turn-analysis is active (13 bit data frame)
2: Variable analysis is active. The length of the data frame (1 to 32 bits) is specified with object SSI frame size (index 0x8000:11).

BIT2

RW

0x00 (0dec)

8000:11

SSI-frame size

Length of the SSI data frame (in bits)

UINT16

RW

0x0019 (25dec)

8000:12

SSI-data length

Data length

UINT16

RW

0x0018 (24dec)

8000:13

Min. inhibit time[µs]

Minimum inhibit time in µs (1 to 65535)

UINT16

RW

0x0000 (0dec)

Index 800D SSI Advanced Settings

Index (hex)

Name

Meaning

Data type

Flags

Default

800D:0

SSI advanced settings

SSI advanced settings

 

RW

0x03 (3dec)

800D:01

Encoder power supply on

Switches the 24 V supply voltage

 

RW

0x01 (1dec)

800D:02

Encoder direction pin on

Switches the 24 V supply at the direction pin

 

RW

0x00 (0dec)

800D:03

Encoder reset pin on

Switches the 24 V supply at the reset pin

 

RW

0x00 (0dec)

Index F000 Modular device profile

Index (hex)

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

0x0001 (1dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index (hex)

Name

Meaning

Data type

Flags

Default

F010:0

Module list

Length of this object

UINT8

RW

0x02 (2dec)

F010:01

SubIndex 001

-

UINT32

RW

0x000001F5 (501dec)