Object overview

Object overview 1:

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.

Index (hex)

Name

Flags

Default value

1000

Device type

RO

0x00001389 (5001dec)

1008

Device name

RO

EP4374-0002

1009

Hardware version

RO

00

100A

Software version

RO

02

1011:0

Subindex

Restore default parameters

RO

0x01 (1dec)

1011:01

SubIndex 001

RW

0x00000000 (0dec)

1018:0

Subindex

Identity

RO

0x04 (4dec)

1018:01

Vendor ID

RO

0x00000002 (2dec)

1018:02

Product code

RO

0x11164052 (286670930dec)

1018:03

Revision

RO

0x00110002 (1114114dec)

1018:04

Serial number

RO

0x00000000 (0dec)

10F0:0

Subindex

Backup parameter handling

RO

0x01 (1dec)

10F0:01

Checksum

RO

0x00000000 (0dec)

1600:0

Subindex

AO Outputs Ch.3

RO

0x01 (1dec)

1600:01

SubIndex 001

RO

0x7020:11, 16

1601:0

Subindex

AO Outputs Ch.4

RO

0x01 (1dec)

1601:01

SubIndex 001

RO

0x7030:11, 16

1800:0

Subindex

AI Inputs Ch.1

RO

0x06 (6dec)

1800:06

Exclude TxPDOs

RO

01 1A

1801:0

Subindex

AI Inputs Compact Ch.1

RO

0x06 (6dec)

1801:06

Exclude TxPDOs

RO

00 1A

1802:0

Subindex

AI Inputs Ch.2

RO

0x06 (6dec)

1802:06

Exclude TxPDOs

RO

03 1A

1803:0

Subindex

AI Inputs Compact Ch.2

RO

0x06 (6dec)

1803:06

Exclude TxPDOs

RO

02 1A

1A00:0

Subindex

AI Inputs Ch.1

RO

0x0B (11dec)

1A00:01

SubIndex 001

RO

0x6000:01, 1

1A00:02

SubIndex 002

RO

0x6000:02, 1

1A00:03

SubIndex 003

RO

0x6000:03, 2

1A00:04

SubIndex 004

RO

0x6000:05, 2

1A00:05

SubIndex 005

RO

0x6000:07, 1

1A00:06

SubIndex 006

RO

0x0000:00, 1

1A00:07

SubIndex 007

RO

0x0000:00, 5

1A00:08

SubIndex 008

RO

0x6000:0E, 1

1A00:09

SubIndex 009

RO

0x6000:0F, 1

1A00:0A

SubIndex 010

RO

0x6000:10, 1

1A00:0B

SubIndex 011

RO

0x6000:11, 16

Index (hex)

Name

Flags

Default value

1A01:0

Subindex

AI Inputs Compact Ch.1

RO

0x01 (1dec)

1A01:01

SubIndex 001

RO

0x6000:11, 16

1A02:0

Subindex

AI Inputs Ch.2

RO

0x0B (11dec)

1A02:01

SubIndex 001

RO

0x6010:01, 1

1A02:02

SubIndex 002

RO

0x6010:02, 1

1A02:03

SubIndex 003

RO

0x6010:03, 2

1A02:04

SubIndex 004

RO

0x6010:05, 2

1A02:05

SubIndex 005

RO

0x6010:07, 1

1A02:06

SubIndex 006

RO

0x0000:00, 1

1A02:07

SubIndex 007

RO

0x0000:00, 5

1A02:08

SubIndex 008

RO

0x6010:0E, 1

1A02:09

SubIndex 009

RO

0x6010:0F, 1

1A02:0A

SubIndex 010

RO

0x6010:10, 1

1A02:0B

SubIndex 011

RO

0x6010:11, 16

1A03:0

Subindex

AI Inputs Compact Ch.2

RO

0x01 (1dec)

1A03:01

SubIndex 001

RO

0x6010:11, 16

1C00:0

Subindex

Sync manager type

RO

0x04 (4dec)

1C00:01

SubIndex 001

RO

0x01 (1dec)

1C00:02

SubIndex 002

RO

0x02 (2dec)

1C00:03

SubIndex 003

RO

0x03 (3dec)

1C00:04

SubIndex 004

RO

0x04 (4dec)

1C12:0

Subindex

RxPDO assign

RW

0x02 (2dec)

1C12:01

SubIndex 001

RW

0x1600 (5632dec)

1C12:02

SubIndex 002

RW

0x1601 (5633dec)

1C13:0

Subindex

TxPDO assign

RW

0x02 (2dec)

1C13:01

SubIndex 001

RW

0x1A00 (6656dec)

1C13:02

SubIndex 002

RW

0x1A02 (6658dec)

1C32:0

Subindex

SM output parameter

RO

0x20 (32dec)

1C32:01

Sync mode

RW

0x0001 (1dec)

1C32:02

Cycle time

RW

0x000F4240 (1000000dec)

1C32:03

Shift time

RO

0x00002710 (10000dec)

1C32:04

Sync modes supported

RO

0xC007 (49159dec)

1C32:05

Minimum cycle time

RO

0x0007A120 (500000dec)

1C32:06

Calc and copy time

RO

0x00001388 (5000dec)

1C32:07

Minimum delay time

RO

0x00001388 (5000dec)

1C32:08

Command

RW

0x0000 (0dec)

1C32:09

Maximum delay time

RO

0x00001388 (5000dec)

1C32:0B

SM event missed counter

RO

0x0000 (0dec)

1C32:0C

Cycle exceeded counter

RO

0x0000 (0dec)

1C32:0D

Shift too short counter

RO

0x0000 (0dec)

1C32:20

Sync error

RO

0x00 (0dec)

Index (hex)

Name

Flags

Default value

1C33:0

Subindex

SM input parameter

RO

0x20 (32dec)

1C33:01

Sync mode

RW

0x0022 (34dec)

1C33:02

Cycle time

RW

0x000F4240 (1000000dec)

1C33:03

Shift time

RO

0x00001388 (5000dec)

1C33:04

Sync modes supported

RO

0xC007 (49159dec)

1C33:05

Minimum cycle time

RO

0x0007A120 (500000dec)

1C33:06

Calc and copy time

RO

0x00002710 (10000dec)

1C33:07

Minimum delay time

RO

0x00001388 (5000dec)

1C33:08

Command

RW

0x0000 (0dec)

1C33:09

Maximum delay time

RO

0x00001388 (5000dec)

1C33:0B

SM event missed counter

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

RO

0x0000 (0dec)

1C33:20

Sync error

RO

0x00 (0dec)

6000:0

Subindex

AI Inputs Ch.1

RO

0x11 (17dec)

6000:01

Underrange

RO

0x00 (0dec)

6000:02

Overrange

RO

0x00 (0dec)

6000:03

Limit 1

RO

0x00 (0dec)

6000:05

Limit 2

RO

0x00 (0dec)

6000:07

Error

RO

0x00 (0dec)

6000:0E

Sync error

RO

0x00 (0dec)

6000:0F

TxPDO State

RO

0x00 (0dec)

6000:10

TxPDO Toggle

RO

0x00 (0dec)

6000:11

Value

RO

0x0000 (0dec)

6010:0

Subindex

AI Inputs Ch.2

RO

0x11 (17dec)

6010:01

Underrange

RO

0x00 (0dec)

6010:02

Overrange

RO

0x00 (0dec)

6010:03

Limit 1

RO

0x00 (0dec)

6010:05

Limit 2

RO

0x00 (0dec)

6010:07

Error

RO

0x00 (0dec)

6010:0E

Sync error

RO

0x00 (0dec)

6010:0F

TxPDO State

RO

0x00 (0dec)

6010:10

TxPDO Toggle

RO

0x00 (0dec)

6010:11

Value

RO

0x0000 (0dec)

Index (hex)

Name

Flags

Default value

7020:0

Subindex

AO Outputs Ch.3

RO

0x11 (17dec)

7020:11

Analog output

RO

0x0000 (0dec)

7030:0

Subindex

AO Outputs Ch.4

RO

0x11 (17dec)

7030:11

Analog output

RO

0x0000 (0dec)

8000:0

Subindex

AI Settings Ch.1

RW

0x18 (24dec)

8000:01

Enable user scale

RW

0x00 (0dec)

8000:02

Presentation

RW

0x00 (0dec)

8000:05

Siemens bits

RW

0x00 (0dec)

8000:06

Enable filter

RW

0x00 (0dec)

8000:07

Enable limit 1

RW

0x00 (0dec)

8000:08

Enable limit 2

RW

0x00 (0dec)

8000:0A

Enable user calibration

RW

0x00 (0dec)

8000:0B

Enable vendor calibration

RW

0x01 (1dec)

8000:0E

Swap limit bits

RW

0x00 (0dec)

8000:11

User scale offset

RW

0x0000 (0dec)

8000:12

User scale gain

RW

0x00010000 (65536dec)

8000:13

Limit 1

RW

0x0000 (0dec)

8000:14

Limit 2

RW

0x0000 (0dec)

8000:15

Filter settings

RW

0x0000 (0dec)

8000:17

User calibration offset

RW

0x0000 (0dec)

8000:18

User calibration gain

RW

0x4000 (16384dec)

800E:0

Subindex

AI Internal data Ch.1

RO

0x01 (1dec)

800E:01

ADC raw value

RO

0x0000 (0dec)

800F:0

Subindex

AI Vendor data Ch.1

RW

0x06 (6dec)

800F:01

R0 offset

RW

0x0000 (0dec)

800F:02

R0 gain

RW

0x4000 (16384dec)

800F:03

R1 offset

RW

0x0000 (0dec)

800F:04

R1 gain

RW

0x4000 (16384dec)

800F:05

R2 offset

RW

0x0000 (0dec)

800F:06

R2 gain

RW

0x4000 (16384dec)

8010:0

Subindex

AI Settings Ch.2

RW

0x18 (24dec)

8010:01

Enable user scale

RW

0x00 (0dec)

8010:02

Presentation

RW

0x00 (0dec)

8010:05

Siemens bits

RW

0x00 (0dec)

8010:06

Enable filter

RW

0x00 (0dec)

8010:07

Enable limit 1

RW

0x00 (0dec)

8010:08

Enable limit 2

RW

0x00 (0dec)

8010:0A

Enable user calibration

RW

0x00 (0dec)

8010:0B

Enable vendor calibration

RW

0x01 (1dec)

8010:0E

Swap limit bits

RW

0x00 (0dec)

8010:11

User scale offset

RW

0x0000 (0dec)

8010:12

User scale gain

RW

0x00010000 (65536dec)

8010:13

Limit 1

RW

0x0000 (0dec)

8010:14

Limit 2

RW

0x0000 (0dec)

8010:15

Filter settings

RW

0x0000 (0dec)

8010:17

User calibration offset

RW

0x0000 (0dec)

8010:18

User calibration gain

RW

0x4000 (16384dec)

Index (hex)

Name

Flags

Default value

801E:0

Subindex

AI Internal data Ch.2

RO

0x01 (1dec)

801E:01

ADC raw value

RO

0x0000 (0dec)

801F:0

Subindex

AI Vendor data Ch.2

RW

0x06 (6dec)

801F:01

R0 offset

RW

0x0000 (0dec)

801F:02

R0 gain

RW

0x4000 (16384dec)

801F:03

R1 offset

RW

0x0000 (0dec)

801F:04

R1 gain

RW

0x4000 (16384dec)

801F:05

R2 offset

RW

0x0000 (0dec)

801F:06

R2 gain

RW

0x4000 (16384dec)

8020:0

Subindex

AO Settings Ch.3

RW

0x16 (22dec)

8020:01

Enable user scale

RW

0x00 (0dec)

8020:02

Presentation

RW

0x00 (0dec)

8020:05

Watchdog

RW

0x00 (0dec)

8020:07

Enable user calibration

RW

0x00 (0dec)

8020:08

Enable vendor calibration

RW

0x01 (1dec)

8020:11

User scale offset

RW

0x0000 (0dec)

8020:12

User scale gain

RW

0x00010000 (65536dec)

8020:13

Default output

RW

0x0000 (0dec)

8020:14

Default output ramp

RW

0xFFFF (65535dec)

8020:15

User calibration offset

RW

0x0000 (0dec)

8020:16

User calibration gain

RW

0x4000 (16384dec)

802E:0

Subindex

AO Internal data Ch.3

RO

0x01 (1dec)

802E:01

DAC raw value

RO

0x0000 (0dec)

802F:0

Subindex

AO Vendor data Ch.3

RW

0x06 (6dec)

802F:01

R0 Calibration Offset

RW

0x0000 (0dec)

802F:02

R0 Calibration Gain

RW

0x4000 (16384dec)

802F:03

R1 Calibration Offset

RW

0x0000 (0dec)

802F:04

R1 Calibration Gain

RW

0x4000 (16384dec)

802F:05

R2 Calibration Offset

RW

0x0000 (0dec)

802F:06

R2 Calibration Gain

RW

0x4000 (16384dec)

Index (hex)

Name

Flags

Default value

8030:0

Subindex

AO Settings Ch.4

RW

0x16 (22dec)

8030:01

Enable user scale

RW

0x00 (0dec)

8030:02

Presentation

RW

0x00 (0dec)

8030:05

Watchdog

RW

0x00 (0dec)

8030:07

Enable user calibration

RW

0x00 (0dec)

8030:08

Enable vendor calibration

RW

0x01 (1dec)

8030:11

User scale offset

RW

0x0000 (0dec)

8030:12

User scale gain

RW

0x00010000 (65536dec)

8030:13

Default output

RW

0x0000 (0dec)

8030:14

Default output ramp

RW

0xFFFF (65535dec)

8030:15

User calibration offset

RW

0x0000 (0dec)

8030:16

User calibration gain

RW

0x4000 (16384dec)

803E:0

Subindex

AO Internal data Ch.4

RO

0x01 (1dec)

803E:01

DAC raw value

RO

0x0000 (0dec)

803F:0

Subindex

AO Vendor data Ch.4

RW

0x06 (6dec)

803F:01

R0 Calibration Offset

RW

0x0000 (0dec)

803F:02

R0 Calibration Gain

RW

0x4000 (16384dec)

803F:03

R1 Calibration Offset

RW

0x0000 (0dec)

803F:04

R1 Calibration Gain

RW

0x4000 (16384dec)

803F:05

R2 Calibration Offset

RW

0x0000 (0dec)

803F:06

R2 Calibration Gain

RW

0x4000 (16384dec)

F000:0

Subindex

Modular device profile

RO

0x02 (2dec)

F000:01

Module index distance

RO

0x0010 (16dec)

F000:02

Maximum number of modules

RO

0x0004 (4dec)

F008

Code word

RW

0x00000000 (0dec)

F010:0

Subindex

Module list

RW

0x04 (4dec)

F010:01

SubIndex 001

RW

0x0000012C (300dec)

F010:02

SubIndex 002

RW

0x0000012C (300dec)

F010:03

SubIndex 003

RW

0x00000190 (400dec)

F010:04

SubIndex 004

RW

0x00000190 (400dec)

F800:0

Subindex

AIAO Range settings

RW

0x04 (4dec)

F800:01

Input type Ch1

RW

0x0000 (0dec)

F800:02

Input type Ch2

RW

0x0000 (0dec)

F800:03

Output type Ch3

RW

0x0000 (0dec)

F800:04

Output type Ch4

RW

0x0000 (0dec)

Legend

Flags:
RO (Read Only): this object can be read only
RW (Read/Write): this object can be read and written to