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 | 0x012C1389 (19665801dec) |
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 AI TxPDO-Par Standard Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1800:0 | AI TxPDO-Par Standard Ch.1 | PDO parameter TxPDO 1 | UINT8 | RO | 0x06 (6dec) |
1800:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1 | OCTET-STRING[2] | RO | 01 1A |
Index 1801 AI TxPDO-Par Compact Ch.1
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1801:0 |
AI TxPDO-Par Compact Ch.1 |
PDO parameter TxPDO 2 |
UINT8 |
RO |
0x06 (6dec) |
1801:06 |
Exclude TxPDOs |
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2 |
OCTET-STRING[2] |
RO |
00 1A |
Index 1A00 AI TxPDO-Map Standard Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A00:0 | AI TxPDO-Map Standard Ch.1 | PDO Mapping TxPDO | UINT8 | RO | 0x0B (11dec) |
1A00:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x01 (Underrange)) | UINT32 | RO | 0x6000:01, 1 |
1A00:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x02 (Overrange)) | UINT32 | RO | 0x6000:02, 1 |
1A00:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x03 (Limit 1)) | UINT32 | RO | 0x6000:03, 2 |
1A00:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x05 (Limit 2)) | UINT32 | RO | 0x6000:05, 2 |
1A00:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x07 (Error)) | UINT32 | RO | 0x6000:07, 1 |
1A00:06 | SubIndex 006 | 6. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1A00:07 | SubIndex 007 | 7. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A00:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x0E (Sync Error)) | UINT32 | RO | 0x6000:0E, 1 |
1A00:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x0F (TxPDO State)) | UINT32 | RO | 0x6000:0F, 1 |
1A00:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6000:10, 1 |
1A00:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value)) | UINT32 | RO | 0x6000:11, 16 |
Index 1A01 AI TxPDO-Map Compact Ch.1
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A01:0 |
AI TxPDO-Map Compact Ch.1 |
PDO Mapping TxPDO 2 |
UINT8 |
RO |
0x01 (1dec) |
1A01:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value)) |
UINT32 |
RO |
0x6000:11, 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
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 | 0x01 (1dec) |
1C13:01 | SubIndex 001 | 1. zugeordnete TxPDO (enthält den Index des zugehörigen TxPDO Mapping Objekts) | UINT16 | RW | 0x1A00 (6656dec) |
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:
| UINT16 | RW | 0x0000 (0dec) |
1C33:02 | Cycle time | Cycle time (in ns):
| UINT32 | RW | 0x000F4240 (1000000dec) |
1C33:03 | Shift time | Time between SYNC0 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C33:04 | Sync modes supported | Supported synchronization modes:
| UINT16 | RO | 0xC003 (49155dec) |
1C33:05 | Minimum cycle time | Minimum cycle time (in ns) | UINT32 | RO | 0x0000FDE8 (65000dec) |
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 |
| UINT32 | RO | 0x00000000 (0dec) |
1C33:08 | Get cycle time | With this entry the real required process data provision time can be measured.
The entries 0x1C33:03, 0x1C33:06, 1C33:09 are updated with the maximum measured values. | 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) |