Standard objects

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 used CoE profile (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

EL3204-0162

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

0x0C843052 (209989714dec)

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)

10F00:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0dec)

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 AI TxPDO 1

UINT8

RO

0x06 (6dec)

1802:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1

OCTET-STRING[2]

RO

03 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 AI TxPDO 2

UINT8

RO

0x06 (6dec)

1803:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2

OCTET-STRING[2]

RO

02 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 AI TxPDO 3

UINT8

RO

0x06 (6dec)

1804:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 3

OCTET-STRING[2]

RO

05 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 AI TxPDO 4

UINT8

RO

0x06 (6dec)

1805:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4

OCTET-STRING[2]

RO

04 1A

Index 1A00 RTD TxPDO-Map Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

RTD TxPDO-Map Ch.1

PDO Mapping RTD TxPDO 1

UINT8

RW

0x09 (9dec)

1A00:01

SubIndex 001

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

UINT32

RW

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (RTD Inputs Ch.1), entry 0x02 (Overrange))

UINT32

RW

0x6000:02, 1

1A00:03

SubIndex 003

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

UINT32

RW

0x6000:03, 2

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (RTD Inputs Ch.1), entry 0x05 (Limit 2))

UINT32

RW

0x6000:05, 2

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (RTD Inputs Ch.1), entry 0x07 (Error))

UINT32

RW

0x6000:07, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (7 bits align)

UINT32

RW

0x0000:00, 7

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (RTD Inputs Ch.1), entry 0x0F (TxPDO-State))

UINT32

RW

0x6000:0F, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (RTD Inputs Ch.1), entry 0x10 (TxPDO-Toggle))

UINT32

RW

0x6000:10, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (RTD Inputs Ch.1), entry 0x11 (Value))

UINT32

RW

0x6000:11, 16

Index 1A01 RTD TxPDO-Map Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

RTD TxPDO-Map Ch.2

PDO Mapping RTD TxPDO 2

UINT8

RW

0x09 (9dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (RTD Inputs Ch.2), entry 0x01 (Underrange))

UINT32

RW

0x6010:01, 1

1A01:02

SubIndex 002

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

UINT32

RW

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (RTD Inputs Ch.2), entry 0x03 (Limit 1))

UINT32

RW

0x6010:03, 2

1A01:04

SubIndex 004

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

UINT32

RW

0x6010:05, 2

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (RTD Inputs Ch.2), entry 0x07 (Error))

UINT32

RW

0x6010:07, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (7 bits align)

UINT32

RW

0x0000:00, 7

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (RTD Inputs Ch.2), entry 0x0F (TxPDO-State))

UINT32

RW

0x6010:0F, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (RTD Inputs Ch.2), entry 0x10 (TxPDO-Toggle))

UINT32

RW

0x6010:10, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (RTD Inputs Ch.2), entry 0x11 (Value))

UINT32

RW

0x6010:11, 16

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 AI TxPDO 1

UINT8

RW

0x0A (10dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x01 (Underrange))

UINT32

RW

0x6020:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x02 (Overrange))

UINT32

RW

0x6020:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x03 (Limit 1))

UINT32

RW

0x6020:03, 2

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (AI  Inputs Ch.1), entry 0x05 (Limit 2))

UINT32

RW

0x6020:05, 2

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x07 (Error))

UINT32

RW

0x6020:07, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (1 bit align)

UINT32

RW

0x0000:00, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (6 bits align)

UINT32

RW

0x0000:00, 6

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x1802 (AI TxPDO-Par Standard Ch.1), entry 0x07 (TxPDO-State))

UINT32

RW

0x1802:07, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x1802 (AI TxPDO-Par Standard Ch.1), entry 0x09 (TxPDO-Toggle))

UINT32

RW

0x1802:09, 1

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x11 (Value))

UINT32

RW

0x6020:11, 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 AI TxPDO 2

UINT8

RW

0x01 (1dec)

1A03:09

SubIndex 001

1. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x11 (Value))

UINT32

RW

0x6020:11, 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 AI TxPDO 3

UINT8

RO

0x0A (10dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x01 (Underrange))

UINT32

RO

0x6030 :01, 1

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x02 (Overrange))

UINT32

RO

0x6030 :02, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x03 (Limit 1))

UINT32

RO

0x6030 :03, 2

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (AI  Inputs Ch.2), entry 0x05 (Limit 2))

UINT32

RO

0x6030:05, 2

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x07 (Error))

UINT32

RO

0x6030 :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 (6 bits align)

UINT32

RO

0x0000:00, 6

1A04:08

SubIndex 008

8. PDO Mapping entry (object 0x1804 (AI TxPDO-Par Standard Ch.2), entry 0x07 (TxPDO-State))

UINT32

RO

0x1804:07, 1

1A04:09

SubIndex 009

9. PDO Mapping entry (object 0x1804 (AI TxPDO-Par Standard Ch.2), entry 0x09 (TxPDO-Toggle))

UINT32

RO

0x1804:09, 1

1A04:0A

SubIndex 010

10. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x11 (Value))

UINT32

RW

0x6030 :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 AI TxPDO 4

UINT8

RO

0x01 (1dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x6030 :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

0x1A04 (6660dec)

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: Synchron with SM 3 event (no outputs available)
  • 2: DC - Synchron with SYNC0 Event
  • 3: DC - Synchron with SYNC1 Event
  • 34: Synchron with SM 2 event (outputs available)

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: cycle time of the master
  • 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

RW

0x00000384 (900dec)

1C33:04

Sync modes supported

Supported synchronization modes:

  • Bit 0: Free Run is supported
  • Bit 1: Synchron with SM 2 Event is supported (outputs available)
  • Bit 1: Synchron 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

0xC007 (49159dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00002710 (10000dec)

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

Max. Delay time

Min. time between SYNC1 event and the reading of the inputs (in ns, DC mode only)

UINT32

RO

0x00000384 (900dec)

1C33:08

Command

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

The entries 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset 

UINT16

RW

0x0000 (0dec)

1C33:09

Max. Delay time

Max. time between SYNC1 event and the reading of the inputs (in ns, DC mode only)

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 F000 Modular device profile

Index (hex)

Name

Meaning

Data type

Flags

Default

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0004 (4dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

currently reserved

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Module list

Max. Subindex

UINT32

RW

0x04 (4dec)

F010:01

Subindex 001

RDT profiles

UINT32

RW

0x00000140 (320dec)

F010:02

Subindex 002

RDT profiles

UINT32

RW

0x00000140 (320dec)

F010:03

Subindex 003

AI profiles

UINT32

RW

0x0000012C (300dec)

F010:04

Subindex 004

AI profiles

UINT32

RW

0x0000012C (300dec)