Standard objects (0x1000-0x1FFF)

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

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

0x00001389 (5001dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EP3744-0041

Index 1009: Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slaves

STRING

RO

 

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slaves

STRING

RO

00

Index 1018 Identity

Index (hex)

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

0x0EA04052 (245383250dec)

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 (hex)

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 Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

DIG RxPDO-Map Outputs

PDO Mapping RxPDO 1

UINT8

RO

0x03 (3dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (Dig Outputs), entry 0x01 (Output 1))

UINT32

RO

0x7010:01, 1

1600:02

SubIndex 002

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

UINT32

RO

0x7010:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

Index 1601 DEV RxPDO-Map Outputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

DEV RxPDO-Map Outputs Device

PDO Mapping RxPDO 2

UINT8

RO

0x02 (2dec)

1601:01

SubIndex 001

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

UINT32

RO

0xF700:01, 1

1601:02

SubIndex 002

2. PDO Mapping entry (object 0xF700 (DEV Outputs Set Safe State), entry 0x02 (Reset Outputs))

UINT32

RO

0x0000:00, 15

Index 1A00 DIG TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

DIG TxPDO-Map Inputs

PDO Mapping TxPDO 1

UINT8

RO

0x07 (7dec)

1A00:01

SubIndex 001

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

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (Dig Inputs), entry 0x02 (Input 2))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (Dig Inputs), entry 0x03 (Input 3))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (Dig Inputs), entry 0x04 (Input 4))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (Dig Inputs), entry 0x05 (Input 5))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (Dig Inputs), entry 0x06 (Input 6))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

Index 1A01 AI TxPDO-Map Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

AI TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x09 (9dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x01 (Underrange))

UINT32

RO

0x6020:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x02 (Overrange))

UINT32

RO

0x6020:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x03 (Limit 1))

UINT32

RO

0x6020:03, 2

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x05 (Limit 2))

UINT32

RO

0x6020:05, 2

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x07 (Error))

UINT32

RO

0x6020:07, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x0F (TxPDO State))

UINT32

RO

0x6020:0F, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6020:10, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x11 (Value))

UINT32

RO

0x6020:11, 32

Index 1A02 AI TxPDO-Map Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

AI TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 3

UINT8

RO

0x09 (9dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x01 (Underrange))

UINT32

RO

0x6030:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x02 (Overrange))

UINT32

RO

0x6030:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x03 (Limit 1))

UINT32

RO

0x6030:03, 2

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x05 (Limit 2))

UINT32

RO

0x6030:05, 2

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x07 (Error))

UINT32

RO

0x6030:07, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x0F (TxPDO State))

UINT32

RO

0x6030:0F, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6030:10, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x11 (Value))

UINT32

RO

0x6030:11, 32

Index 1A03 AI TxPDO-Map Inputs Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

AI TxPDO-Map Inputs Ch.3

PDO Mapping TxPDO 4

UINT8

RO

0x09 (9dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x01 (Underrange))

UINT32

RO

0x6040:01, 1

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x02 (Overrange))

UINT32

RO

0x6040:02, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x03 (Limit 1))

UINT32

RO

0x6040:03, 2

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x05 (Limit 2))

UINT32

RO

0x6040:05, 2

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x07 (Error))

UINT32

RO

0x6040:07, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A03:07

SubIndex 007

7. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x0F (TxPDO State))

UINT32

RO

0x6040:0F, 1

1A03:08

SubIndex 008

8. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6040:10, 1

1A03:09

SubIndex 009

9. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x11 (Value))

UINT32

RO

0x6040:11, 32

Index 1A04 AI TxPDO-Map Inputs Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

AI TxPDO-Map Inputs Ch.4

PDO Mapping TxPDO 5

UINT8

RO

0x09 (9dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x01 (Underrange))

UINT32

RO

0x6050:01, 1

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x02 (Overrange))

UINT32

RO

0x6050:02, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x03 (Limit 1))

UINT32

RO

0x6050:03, 2

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x05 (Limit 2))

UINT32

RO

0x6050:05, 2

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x07 (Error))

UINT32

RO

0x6050:07, 1

1A04:06

SubIndex 006

6. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A04:07

SubIndex 007

7. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x0F (TxPDO State))

UINT32

RO

0x6050:0F, 1

1A04:08

SubIndex 008

8. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6050:10, 1

1A04:09

SubIndex 009

9. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x11 (Value))

UINT32

RO

0x6050:11, 32

Index 1A05 DEV TxPDO-Map Inputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

DEV TxPDO-Map Inputs Device

PDO Mapping TxPDO 6

UINT8

RO

0x07 (7dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0xF600 (DEV Inputs Safe State Active), entry 0x01 (Safe State Active))

UINT32

RO

0xF600:01, 1

1A05:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

1A05:03

SubIndex 003

3. PDO Mapping entry (object 0xF611 (DEV Inputs Undervoltage), entry 0x01 (Undervoltage Us ))

UINT32

RO

0xF611:01, 1

1A05:04

SubIndex 004

4. PDO Mapping entry (object 0xF611 (DEV Inputs Undervoltage), entry 0x02 (Undervoltage Up))

UINT32

RO

0xF611:02, 1

1A05:05

SubIndex 005

5. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 13

1A05:06

SubIndex 006

6. PDO Mapping entry (object 0xF611 (DEV Inputs Undervoltage), entry 0x10 (TxPDO Toggle))

UINT32

RO

0xF611:10, 1

1A05:07

SubIndex 007

7. PDO Mapping entry (96 bits align)

UINT32

RO

0x0000:00, 96

Index 1C00 Sync manager type

Index (hex)

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 (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x02 (2dec)

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)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x06 (6dec)

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)

1C13:05

Subindex 005

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

UINT16

RW

0x1A04 (6660dec)

1C13:06

Subindex 006

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

UINT16

RW

0x1A05 (6661dec)

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 (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

0x00000384 (900dec)

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 0x1C32:08)

UINT16

RO

0xC007 (49159dec)

1C32:05

Minimum cycle time

Minimum cycle time supported (in ns)

UINT32

RO

0x000F4240 (1000000dec)

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

0x00000384 (900dec)

1C32:08

Command

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

The Entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09 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

0x00000384 (900dec)

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 (hex)

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 0x1C32:02 

UINT32

RW

0x003D0900 (4000000dec)

1C33:03

Shift time

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

UINT32

RO

0x00000384 (900dec)

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 0x1C32:08 or 0x1C33:08)

UINT16

RO

0xC007 (49159dec)

1C33:05

Minimum cycle time

same as 0x1C32:05 

UINT32

RO

0x000F4240 (1000000dec)

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

0x00000384 (900dec)

1C33:08

Command

same as 0x1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

Maximum delay time

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

UINT32

RO

0x00000384 (900dec)

1C33:0B

SM event missed counter

same as 0x1C32:11 

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

same as 0x1C32:12 

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

same as 0x1C32:13 

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

same as 0x1C32:32 

BOOLEAN

RO

0x00 (0dec)