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 1600 TSC RxPDO-Map Master Message

Index (hex)

Name

Meaning

Data type

Flags

Default value

1600:0

TSC RxPDO-Map Master Message

PDO Mapping RxPDO

UINT8

RO

0x04 (4dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7040 (TSC Master Frame Elements), entry 0x01 (TSC__Master Cmd))

UINT32

RO

0x7040:01, 8

1600:02

SubIndex 002

2. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7040 (TSC Master Frame Elements), entry 0x03 (TSC__Master CRC_0))

UINT32

RO

0x7040:03, 16

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7040 (TSC Master Frame Elements), entry 0x02 (TSC__Master ConnID))

UINT32

RO

0x7040:02, 16

Index 180n*** (AI) TxPDO-Par (for 0 ≤ n ≤ 7, depends on number of channels)

Index (hex)

Name

Meaning

Data type

Flags

Default

180n:0

AI TxPDO-Par Standard

PDO Parameter TxPDO

UINT8

RO

0x06 (6dez)

180n:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects)

that must not be transferred together with this PDO

OCTET-STRING[2]

RO

n=

Wert:

0

0x011A

1

0x001A

2

0x031A

3

0x021A

4

0x051A

5

0x041A

6

0x071A

7

0x061A

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

Index 1A0n AI TxPDO-Map Standard (for n = 0, 2, 4, 6; p = 0, 1, 2, 3; depending on the number of channels, not applicable for EL31x2)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0n:0

AI TxPDO-Map standard

PDO Mapping TxPDO

UINT8

RO

0x0B (11dec)

1A0n:01

SubIndex 001

1. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x01 (Underrange))

UINT32

RO

0x60p0:01, 1

1A0n:02

SubIndex 002

2. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x02 (Overrange))

UINT32

RO

0x60p0:02, 1

1A0n:03

SubIndex 003

3. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x60p0:03, 2

1A0n:04

SubIndex 004

4. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x60p0:05, 2

1A0n:05

SubIndex 005

5. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x07 (Error))

UINT32

RO

0x60p0:07, 2

1A0n:06

SubIndex 006

6. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A0n:07

SubIndex 007

7. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A0n:08

SubIndex 008

8. PDO Mapping entry (object 0x1C32 (SM input parameter), entry 0x20 (Sync error))

UINT32

RO

0x1C32:20, 1

1A0n:09

SubIndex 009

9. PDO Mapping entry (object 0x180n (AI TxPDO-Par standard), entry 0x07 (TxPDO State))

UINT32

RO

0x180n:07, 1

1A0n:0A

SubIndex 010

10. PDO Mapping entry (object 0x180n (AI TxPDO-Par standard), entry 0x09 (TxPDO Toggle))

UINT32

RO

0x180n:09, 1

1A0n:0B

SubIndex 011

11. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x60p0:11, 16

Index 1A0n AI TxPDO-Map Compact (for n = 1, 3, 5, 7; p = 0, 1, 2, 3; depending on the number of channels, not applicable for EL31x2)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0n:0

AI TxPDO-Map Compact

PDO Mapping TxPDO

UINT8

RO

0x01 (1dec)

1A0n:01

SubIndex 001

1. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x60p0:11, 16

Index 1A08 TSC TxPDO-Map Slave Message

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

TSC TxPDO-Map Slave Message

PDO Mapping TxPDO

UINT8

RW

0x0A (10dec)

1A08:01

SubIndex 001

1. PDO Mapping entry (object 0x6040 (TSC Slave Frame Elements), entry 0x01 (TSC__Slave Cmd))

USINT8

RW

0x6040:01, 8

1A08:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

INT16

RW

0x6000:11, 16

1A08:03

SubIndex 003

3. PDO Mapping entry (object 0x6040 (TSC Slave Frame Elements), entry 0x03 (TSC__Slave CRC_0))

UINT16

RW

0x6040:03, 16

1A08:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x11 (Counter value))

INT16

RW

0x6010:11, 16

1A08:05

SubIndex 005

5. PDO Mapping entry (object 0x6040 (TSC Slave Frame Elements), entry 0x04 (TSC__Slave CRC_1))

UINT16

RW

0x6040:04, 16

1A08:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (ENC Inputs), entry 0x11 (Counter value))

INT16

RW

0x6020:11, 16

1A08:07

SubIndex 007

7. PDO Mapping entry (object 0x6040 (TSC Slave Frame Elements), entry 0x05 (TSC__Slave CRC_2))

UINT16

RW

0x6040:05, 16

1A08:08

SubIndex 008

8. PDO Mapping entry (object 0x6030 (ENC Inputs), entry 0x11 (Counter value))

INT16

RW

0x6030:11, 16

1A08:09

SubIndex 009

9. PDO Mapping entry (object 0x6040 (TSC Slave Frame Elements), entry 0x06 (TSC__Slave CRC_3))

UINT16

RW

0x6040:06, 16

1A08:0A

SubIndex 010

10. PDO Mapping entry (object 0x6040 (TSC Slave Frame Elements), entry 0x02 (TSC__Slave ConnID))

UINT16

RW

0x6040:02, 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

0x1600 (5632dec)

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

0x04 (4dec)

1C13:01

SubIndex 001

1. zugeordnete TxPDO (enthält den Index des zugehörigen TxPDO Mapping Objekts)

UINT16

RW

0x1A00 (6656dec)

1C13:02

SubIndex 002

2. zugeordnete TxPDO (enthält den Index des zugehörigen TxPDO Mapping Objekts)

UINT16

RW

0x1A02 (6658dec)

1C13:03

SubIndex 003

3. zugeordnete TxPDO (enthält den Index des zugehörigen TxPDO Mapping Objekts)

UINT16

RW

0x1A04 (6660dec)

1C13:04

SubIndex 004

4. zugeordnete TxPDO (enthält den Index des zugehörigen TxPDO Mapping Objekts)

UINT16

RW

0x1A06 (6662dec)

1C13:05

SubIndex 004

5. zugeordnete TxPDO (enthält den Index des zugehörigen TxPDO Mapping Objekts)

UINT16

RW

0x1A08 (6664dec)

Index 1C32 SM output parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

0x07 (7dec)

1C32:01

Sync mode

Current synchronization mode:

  • 0: Free Run
  • 1: Synchron with SM 2 Event
  • 2: DC-Mode - Synchron with SYNC0 Event
  • 3: DC-Mode - Synchron with SYNC1 Event

UINT16

RW

0x0001 (1dec)

1C32:02

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)

1C32:03

Shift time

Time between SYNC0 event and output of the outputs (in ns, DC mode only)

UINT32

RW

0x00000000 (0dec)

1C32:04

Sync modes supported

Supported synchronization modes:

  • Bit 0 = 1: free run is supported
  • Bit 1 = 1: Synchronous with SM 2 event is supported
  • Bit 2-3 = 01: DC mode is supported
  • Bit 4-5 = 10: Output shift with SYNC1 event (only DC mode)
  • Bit 14 = 1: dynamic times (measurement through writing of 1C32:08)

UINT16

RO

0x8007 (32775dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0dec)

1C32:06

Calc and copy time

Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C32:08

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

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09  are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0dec)

1C32:09

Delay time

Time between SYNC1 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C32:0B

SM event missed counter

Number of missed SM events in OPERATIONAL (DC mode only)

UINT16

RO

0x0000 (0dec)

1C32:0C

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)

1C32:0D

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)

1C32:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC mode only)

BOOLEAN

RO

0x00 (0dec)

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)

Index F009*** Password protection

Index (hex)

Name

Meaning

Data type

Flags

Default

F009:0

Password protection

Password protection user calibration

UINT32

RW

0x00000000 (0dec)

***) for EL31xx, see note