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:

  • Bit 0 = 0: Free Run
  • Bit 0 = 1: Synchron with SM 2 Event
  • Bit 15 = 0: Standard
  • Bit 15 = 1: FastOp mode (CoE deactivated)

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

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:

  • 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 0x1C33:08)

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.

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

The entries 0x1C33:03, 0x1C33:06, 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)