Standard objects

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

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

EL31xx

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

-

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

0xXXXX3052

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

-

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

-

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

-

***) since revision no. EL31xx-00xx-0016

Index 1800 TxPDO-Par Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1800:0

TxPDO-Par Ch.1

PDO Parameter TxPDO

UINT8

RO

0x06 (6dec)

1800:06

Exclude TxPDOs

Hier sind die TxPDOs (Index der TxPDO Mapping Objekte) angegeben, die nicht zusammen mit TxPDO 1 übertragen werden dürfen

OCTET-STRING[2]

RO

02 1A
03 1A
07 1A
10 1A

Index 1801 TxPDO-Par Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1801:0

TxPDO-Par Ch.2

PDO Parameter TxPDO

UINT8

RO

0x06 (6dec)

1801:06

Exclude TxPDOs

Hier sind die TxPDOs (Index der TxPDO Mapping Objekte) angegeben, die nicht zusammen mit TxPDO 2 übertragen werden dürfen

OCTET-STRING[2]

RO

04 1A
05 1A
09 1A
10 1A

Index 1802 AI TxPDO-Par Standard Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1802:0

AI TxPDO-Par Standard Ch.1

PDO Parameter TxPDO

UINT8

RO

0x06 (6dec)

1802:06

Exclude TxPDOs

Hier sind die TxPDOs (Index der TxPDO Mapping Objekte) angegeben, die nicht zusammen mit TxPDO 1 übertragen werden dürfen

OCTET-STRING[2]

RO

01 1A
03 1A
07 1A
10 1A

Index 1803 AI TxPDO-Par Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1803:0

AI TxPDO-Par Compact Ch.1

PDO Parameter TxPDO

UINT8

RO

0x06 (6dec)

1803:06

Exclude TxPDOs

Hier sind die TxPDOs (Index der TxPDO Mapping Objekte) angegeben, die nicht zusammen mit TxPDO 2 übertragen werden dürfen

OCTET-STRING[2]

RO

00 1A
02 1A
07 1A
10 1A

Index 1804 AI TxPDO-Par Standard Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1804:0

AI TxPDO-Par Standard Ch.2

PDO Parameter TxPDO

UINT8

RO

0x06 (6dec)

1804:06

Exclude TxPDOs

Hier sind die TxPDOs (Index der TxPDO Mapping Objekte) angegeben, die nicht zusammen mit TxPDO 3 übertragen werden dürfen

OCTET-STRING[2]

RO

00 1A
05 1A
09 1A
10 1A

Index 1805 AI TxPDO-Par Compact Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1805:0

AI TxPDO-Par Compact Ch.2

PDO Parameter TxPDO

UINT8

RO

0x06 (6dec)

1805:06

Exclude TxPDOs

Hier sind die TxPDOs (Index der TxPDO Mapping Objekte) angegeben, die nicht zusammen mit TxPDO 4 übertragen werden dürfen

OCTET-STRING[2]

RO

00 1A
04 1A
09 1A
10 1A

Index 1807 AI TxPDO-Par DINT Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1807:0

AI TxPDO-Par DINT Ch.1

PDO Parameter TxPDO

UINT8

RO

0x06 (6dec)

1807:06

Exclude TxPDOs

Hier sind die TxPDOs (Index der TxPDO Mapping Objekte) angegeben, die nicht zusammen mit TxPDO 1 übertragen werden dürfen

OCTET-STRING[2]

RO

00 1A
20 1A
30 1A
10 1A

Index 1809 AI TxPDO-Par DINT Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1809:0

AI TxPDO-Par DINT Ch.2

PDO Parameter TxPDO

UINT8

RO

0x06 (6dec)

1809:06

Exclude TxPDOs

Hier sind die TxPDOs (Index der TxPDO Mapping Objekte) angegeben, die nicht zusammen mit TxPDO 2 übertragen werden dürfen

OCTET-STRING[2]

RO

10 1A
40 1A
50 1A
10 1A

Index 1810 TxPDO-Par Channels

Index (hex)

Name

Meaning

Data type

Flags

Default

1810:0

TxPDO-Par Channels

PDO Parameter TxPDO

UINT8

RO

0x06 (6dec)

1810:06

Exclude TxPDOs

Hier sind die TxPDOs (Index der TxPDO Mapping Objekte) angegeben, die nicht zusammen mit TxPDO 1 übertragen werden dürfen

OCTET-STRING[2]

RO

00 1A
01 1A
02 1A
03 1A
04 1A
05 1A
07 1A
09 1A

Index 1A00 TxPDO-Par Channel 1 (only for EL31x2)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0n:0

TxPDO Map Ch. 1

PDO Mapping TxPDO Ch. 1

UINT8

RO

0x02 (2dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x3101 (Inputs), entry 0x01 (Inputs))

UINT32

RO

0x3101:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x3101 (Inputs), entry 0x02 (Inputs))

UINT32

RO

0x3101:02, 1

Index 1A01 TxPDO-Par Channel 2 (only for EL31x2)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

TxPDO Map Ch. 1

PDO Mapping TxPDO Ch. 1

UINT8

RO

0x02 (2dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x3102 (Inputs), entry 0x01 (Inputs))

UINT32

RO

0x3102:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x3102 (Inputs), entry 0x02 (Inputs))

UINT32

RO

0x3102:02, 1

Index 1A02 AI TxPDO-Map Standard Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

AI TxPDO-Map Standard Ch.1

PDO Mapping TxPDO

UINT8

RO

0x0B (11dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x01 (Underrange))

UINT32

RO

0x6000:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x02 (Overrange))

UINT32

RO

0x6000:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x6000:03, 2

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x6000:05, 2

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x07 (Error))

UINT32

RO

0x6000:07, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x0E (Sync Error))

UINT32

RO

0x6000:0E, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6000:0F, 1

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6000:10, 1

1A02:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x6000:11, 16

Index 1A03 AI TxPDO-Map Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

AI TxPDO-Map Compact Ch.1

PDO Mapping TxPDO

UINT8

RO

0x01 (1dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x6000:11, 16

Index 1A04 AI TxPDO-Map Standard Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

AI TxPDO-Map Standard Ch.2

PDO Mapping TxPDO

UINT8

RO

0x0B (11dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x01 (Underrange))

UINT32

RO

0x6010:01, 1

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x02 (Overrange))

UINT32

RO

0x6010:02, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x6010:03, 2

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x6010:05, 2

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x07 (Error))

UINT32

RO

0x6010:07, 1

1A04:06

SubIndex 006

6. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A04:07

SubIndex 007

7. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A04:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x0E (Sync Error))

UINT32

RO

0x6010:0E, 1

1A04:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6010:0F, 1

1A04:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6010:10, 1

1A04:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x6010:11, 16

Index 1A05 AI TxPDO-Map Compact Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

AI TxPDO-Map Compact Ch.2

PDO Mapping TxPDO

UINT8

RO

0x01 (1dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x6010:11, 16

Index 1A07 AI TxPDO-Map DINT Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

AI TxPDO-Map DINT Ch.1

PDO Mapping TxPDO

UINT8

RO

0x01 (1dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x6030:11, 16

Index 1A09 AI TxPDO-Map DINT Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A09:0

AI TxPDO-Map DINT Ch.2

PDO Mapping TxPDO

UINT8

RO

0x01 (1dec)

1A09:01

SubIndex 001

1. PDO Mapping entry (object 0x6011 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x6011:11, 32

Index 1A10 TxPDO-Map Channels

Index (hex)

Name

Meaning

Data type

Flags

Default

1A10:0

TxPDO-Map Channels

PDO Mapping TxPDO

UINT8

RO

0x02 (2dec)

1A10:01

SubIndex 001

1. PDO Mapping entry (object 0x3101 (Inputs), entry 0x01 (Inputs))

UINT32

RO

0x3101:02, 16

1A10:02

SubIndex 002

2. PDO Mapping entry (object 0x3101 (Inputs), entry 0x02 (Inputs))

UINT32

RO

0x3101:02, 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 (only for EL31x2 before rev. EL31x2-0000-0016)

For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO assignment (“TxPDO assign”, object 0x1C13) successively.

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x02 (2dec)

1C13:01

SubIndex 001

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

UINT16

RW

0x1A02

1C13:02

SubIndex 002

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

UINT16

RW

0x1A04

Index 1C13 TxPDO assign (only for EL31x2 from rev. EL31x2-0000-0016)

For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO assignment (“TxPDO assign”, object 0x1C13) successively.

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x02 (2dec)

1C13:01

SubIndex 001

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

UINT16

RW

0x1A00

1C13:02

SubIndex 002

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

UINT16

RW

0x1A01

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:

  • Bit 0 = 0: Free Run
  • Bit 0 = 1: Synchronous with SM 3 event
  • Bit 0-1 = 11: DC with SYNC1 event
  • Bit 15 = 1: Fast mode

UINT16

RW

0x0022 (34dec)

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

0x000F4240 (1000000dec)

1C33:03

Shift time

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

UINT32

RO

0x000186A0 (100000dec)

1C33:04

Sync modes supported

Supported synchronization modes:

  • Bit 0 = 1: Free Run is supported
  • Bit 1: Synchron with SM 3 Event is supported (no Outputs available)
  • Bit 2 = 1: DC mode (SYNC0)
  • Bit 3 = 1: DC mode (SYNC1)
  • Bit 4-5 = 01: Input Shift with local event (Outputs available)
  • Bit 4-5 = 10: Input Shift with SYNC1 Event (no Outputs available)
  • Bit 12 = 1: Legacy Synchron
  • Bit 13 = 1: SM event
  • Bit 14 = 1: dynamic times (measure by writing 1C33:08)
  • Bit 15 = 1: Fast mode

UINT16

RO

0xD00B (53259dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000dec)

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

0x00002710 (10000dez)

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 1C33:03, 1C33:06, and 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

0x000186A0 (100000dez)

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)

***) since revision no. EL31xx-00xx-0016