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EPxxxx | Industrial housing · 0 次阅读

Standard objects (0x1000-0x1FFF)

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

UINT32

RO

0x184C1389 (407638921dez)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

(Product name, e.g. EP6224-0002)

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 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

1)

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

0x00100000 (1048576dec)

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)

1) Product code:

  • EP6222-0002: 0x184E4052
  • EP6224-0002: 0x18504052
  • EP6224-0042: 0x18504052
  • EP6224-0092: 0x18504052
  • EP6224-2022: 0x18504052
  • EP6224-3002: 0x18504052
  • EP6224-3022: 0x18504052
  • EP6228-0022: 0x18544052
  • EP6228-0042: 0x18544052
  • EP6228-3032: 0x18544052
  • EP6228-3132: 0x18544052
  • EP6228-3142: 0x18544052

Index 10F0 Backup parameter handling

Index (hex)

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter handling

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

UINT8

RO

0x01 (1dez)

10F0:01

Checksum

Checksum over all backup entries

UINT32

RO

0x00000000 (0dez)

Index 1600 IO RxPDO-Map Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

IO RxPDO-Map Ch.1

PDO Mapping RxPDO 1

UINT8

RW

0x01 (1dec)

1600:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1601 IO RxPDO-Map Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

IO RxPDO-Map Ch.2

PDO Mapping RxPDO 2

UINT8

RW

0x01 (1dec)

1601:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1602 IO RxPDO-Map Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

IO RxPDO-Map Ch.3

PDO Mapping RxPDO 3

UINT8

RW

0x01 (1dec)

1602:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1603 IO RxPDO-Map Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1603:0

IO RxPDO-Map Ch.4

PDO Mapping RxPDO 4

UINT8

RW

0x01 (1dec)

1603:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1604 IO RxPDO-Map Ch.5 (EP6228-xxxx only)

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

IO RxPDO-Map Ch.5

PDO Mapping RxPDO 5

UINT8

RW

0x01 (1dec)

1604:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1605 IO RxPDO-Map Ch.6 (EP6228-xxxx only)

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

IO RxPDO-Map Ch.6

PDO Mapping RxPDO 6

UINT8

RW

0x01 (1dec)

1605:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1606 IO RxPDO-Map Ch.7 (EP6228-xxxx only)

Index (hex)

Name

Meaning

Data type

Flags

Default

1606:0

IO RxPDO-Map Ch.7

PDO Mapping RxPDO 7

UINT8

RW

0x01 (1dec)

1606:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1607 IO RxPDO-Map Ch.8 (EP6228-xxxx only)

Index (hex)

Name

Meaning

Data type

Flags

Default

1607:0

IO RxPDO-Map Ch.8

PDO Mapping RxPDO 8

UINT8

RW

0x01 (1dec)

1607:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1A00 IO TxPDO-Map Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

IO TxPDO-Map Ch.1

PDO Mapping TxPDO 1

UINT8

RW

0x01 (1dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1A01 IO TxPDO-Map Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

IO TxPDO-Map Ch.2

PDO Mapping TxPDO 2

UINT8

RW

0x01 (1dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1A02 IO TxPDO-Map Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

IO TxPDO-Map Ch.3

PDO Mapping TxPDO 3

UINT8

RW

0x01 (1dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1A03 IO TxPDO-Map Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

IO TxPDO-Map Ch.4

PDO Mapping TxPDO 4

UINT8

RW

0x01 (1dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1A04 IO TxPDO-Map Ch.5 (EP6228-xxxx only)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

IO TxPDO-Map Ch.5

PDO Mapping TxPDO 5

UINT8

RW

0x01 (1dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1A05 IO TxPDO-Map Ch.6 (EP6228-xxxx only)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

IO TxPDO-Map Ch.6

PDO Mapping TxPDO 6

UINT8

RW

0x01 (1dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1A06 IO TxPDO-Map Ch.7 (EP6228-xxxx only)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

IO TxPDO-Map Ch.7

PDO Mapping TxPDO 7

UINT8

RW

0x01 (1dec)

1A06:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1A07 IO TxPDO-Map Ch.8 (EP6228-xxxx only)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

IO TxPDO-Map Ch.8

PDO Mapping TxPDO 8

UINT8

RW

0x01 (1dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

Index 1A80 DeviceState TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A80:0

DeviceState TxPDO-Map Inputs

PDO Mapping

UINT8

RW

0x04 (4dec)

1A80:01

SubIndex 001

1. PDO Mapping entry (object 0xF100 (Diagnosis Status data), entry 0x01 (State Ch1))

UINT32

RW

0xF100:01, 8

1A80:02

SubIndex 002

2. PDO Mapping entry (object 0xF100 (Diagnosis Status data), entry 0x02 (State Ch2))

UINT32

RW

0xF100:02, 8

1A80:03

SubIndex 003

3. PDO Mapping entry (object 0xF100 (Diagnosis Status data), entry 0x03 (State Ch3))

UINT32

RW

0xF100:03, 8

…

…

…

…

…

…

Index 1C00Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Usage of the Sync Manager channels

UINT8

RO

0x04 (4dez)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1dez)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2dez)

1C00:03

SubIndex 003

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

UINT8

RO

0x03 (3dez)

1C00:04

SubIndex 004

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

UINT8

RO

0x04 (4dez)

Index 1C12 RxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x04 (4dec)

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)

…

…

…

UINT16

RW

…

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x05 (5dec)

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 (hex)

Name

Meaning

Data type

Flags

Default

1C32:0

SM output parameter

Synchronization parameter of the outputs

UINT8

RO

0x20 (32dez)

1C32:01

Sync mode

actual synchronization mode:

0: Free Run

1: Synchron with SM 2 Event

2: DC-Mode - Synchron with SYNC0 Event

3: DC-Mode - Synchron with SYNC1 Event

UINT16

RW

0x0000 (0dez)

1C32:02

Cycle time

Cycle time (in ns):

Free Run: cycle time of the local timer

Synchron with SM 2 Event: Cycle time of the master

DC-Mode: SYNC0/SYNC1 Cycle time

UINT32

RW

0x000186A0 (100000dez)

1C32:03

Shift time

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

UINT32

RO

0x00000000 (0dez)

1C32:04

Sync modes supported

Supported synchronization modes:

Bit 0 = 1: Free Run is supported

Bit 1 = 1: Synchron 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 Messen by writing 1C32:08)

UINT16

RO

0xC007 (49159dez)

1C32:05

Minimum cycle time

Minimum cycle time supported (in ns)

UINT32

RO

0x000186A0 (100000dez)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dez)

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 (0dez)

1C32:09

Delay time

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

UINT32

RO

0x00000000 (0dez)

1C32:0B

SM event missed counter

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

UINT16

RO

0x0000 (0dez)

1C32:0C

Cycle exceeded counter

Number of the exceeded cycles in state OPERATIONAL

UINT16

RO

0x0000 (0dez)

1C32:0D

Shift too short counter

Number of the too short distances between SYNC0 and SYNC1 Event (only in DC Mode)

UINT16

RO

0x0000 (0dez)

1C32:20

Sync error

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

BOOLEAN

RO

0x00 (0dez)

Index 1C33 SM input parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C33:0

SM input parameter

Synchronization parameter of the inputs

UINT8

RO

0x20 (32dez)

1C33:01

Sync mode

actual 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

0x0000 (0dez)

1C33:02

Cycle time

same as 1C32:02

UINT32

RW

0x000186A0 (100000dez)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0dez)

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 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 Messen by writing 1C32:08 or 1C33:08)

UINT16

RO

0xC007 (49159dez)

1C33:05

Minimum cycle time

same as 1C32:05

UINT32

RO

0x000186A0 (100000dez)

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 (0dez)

1C33:08

Command

same as 1C32:08

UINT16

RW

0x0000 (0dez)

1C33:09

Delay time

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

UINT32

RO

0x00000000 (0dez)

1C33:0B

SM event missed counter

same as 1C32:11

UINT16

RO

0x0000 (0dez)

1C33:0C

Cycle exceeded counter

same as 1C32:12

UINT16

RO

0x0000 (0dez)

1C33:0D

Shift too short counter

same as 1C32:13

UINT16

RO

0x0000 (0dez)

1C33:20

Sync error

same as 1C32:32

BOOLEAN

RO

0x00 (0dez)