Standard objects (0x1000-0x1FFF)

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

 

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

0x01401389 (20976521dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EJ3202
EJ3214

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

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

EJ3202:
0x5228820C (1378386444dec)

EJ321:
0x0C8E2852 (2108643026dec)

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 1A0n TxPDO Map Ch.n+1 for 0 ≤ n ≤ 1 (Ch. 1 - 2) [for EJ3202]

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0n:0

TxPDO Map Ch.1

PDO Mapping TxPDO 1

UINT8

RW

0x09 (9dec)

1A0n:01

SubIndex 001

1. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x01 (Underrange))

UINT32

RW

0x60n0:01, 1

1A0n:02

SubIndex 002

2. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x02 (Overrange))

UINT32

RW

0x60n0:02, 1

1A0n:03

SubIndex 003

3. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x03 (Limit 1))

UINT32

RW

0x60n0:03, 2

1A0n:04

SubIndex 004

4. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x05 (Limit 2))

UINT32

RW

0x60n0:05, 2

1A0n:05

SubIndex 005

5. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x07 (Error))

UINT32

RW

0x60n0:07, 1

1A0n:06

SubIndex 006

6. PDO Mapping entry (7 bits align)

UINT32

RW

0x0000:00, 7

1A0n:07

SubIndex 007

7. PDO Mapping entry (object 0x180n (TxPDO-Par Ch.n+1), entry 0x07 (TxPDO-State))

UINT32

RW

0x180n:07, 1

1A0n:08

SubIndex 008

8. PDO Mapping entry (object 0x180n (TxPDO-Par Ch.1), entry 0x09 (TxPDO-Toggle))

UINT32

RW

0x180n:09, 1

1A0n:09

SubIndex 009

9. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x11 (Value))

UINT32

RW

0x60n0:11, 16

Index 1A0n TxPDO Map Ch.n+1 for 0 ≤ n ≤ 3 (Ch. 1 - 4) [for EJ3214]

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0n:0

TxPDO Map Ch.1

PDO Mapping TxPDO 1

UINT8

RW

0x08 (8dec)

1A0n:01

SubIndex 001

1. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x01 (Underrange))

UINT32

RW

0x60n0:01, 1

1A0n:02

SubIndex 002

2. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x02 (Overrange))

UINT32

RW

0x60n0:02, 1

1A0n:03

SubIndex 003

3. PDO Mapping entry (4 bits align)

UINT32

RW

0x0000:00, 4

1A0n:04

SubIndex 004

4. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x07 (Error))

UINT32

RW

0x60n0:07, 1

1A0n:05

SubIndex 005

5. PDO Mapping entry (7 bits align)

UINT32

RW

0x0000:00, 7

1A0n:06

SubIndex 006

6. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x0F (TxPDO-State))

UINT32

RW

0x60n0:0F, 1

1A0n:07

SubIndex 007

7. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x10 (TxPDO-Toggle))

UINT32

RW

0x60n0:10:09, 1

1A0n:08

SubIndex 008

8. PDO Mapping entry (object 0x60n0 (RTD Inputs Ch.n+1), entry 0x11 (Value))

UINT32

RW

0x60n0:11, 16

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

RW

0x04 (4dec)

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)

1C13:04

Subindex 004

4. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A03 (6659dec)

***) for EJ3202: subindex x01, x02, for EJ3214: subindex x01 - x04

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: 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

0x0000 (0dec)

1C33:02

Cycle time

Cycle time (in ns):

  • Free Run: Cycle time of the local timer
  • Synchronous with SM 2 event: Master cycle time
  • DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x00000000 (0dec)

1C33:03

Shift time

Time between SYNC0 event and reading of the inputs (in ns, only DC mode)

UINT32

RW

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 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 1C33:08)

UINT16

RO

EJ3202:
0xC007 (49159dec)

EJ3214:
0xC001 (49153 dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (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

Minimum time between Sync-1 Event and reading of the inputs (in ns, only DC mode)

0 because DC mode is not supported by EJ32xx

UINT32

RO

0x00000000 (0dec)

1C33:08

Command

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

The entries 1C33:03, 1C33:06, 1C33:09 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

0x00000000 (0dec)

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)