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 low word contains the used CoE profile (5001). The high word contains the module profile according to the modular device profile.

UINT32

RO

0x01541389

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL3403

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

01

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

00

Index 100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100B:0

Bootloader version

Bootloader version

STRING

RO

n.a.

Index 1018 Identity

Index (hex)

Name

Meaning

Data type

Flags

Default

1018:0

Identity

Largest subindex of this object

UINT8

RO

4

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

2

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

0x0D933052 (227749970dec)

1018:03

Revision

Revision number of the EtherCAT slave:

  • The low word (bit 0…15) identifies 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 10E2 Manufacturer-specific Identification Code

Index (hex)

Name

Meaning

Data type

Flags

Default

10E2:0

Manufacturer specific identification code

Largest subindex of this object

UINT8

RO

0x01 (1dec)

10E2:01

SubIndex 001

Vendor-specific identification code

UINT32

RW

 

Index 10F0 Backup parameter handling

Index (hex)

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter handling

Largest subindex of this object

UINT8

RO

0x01 (1dec)

10F0:01

Checksum

 

UINT32

RW

0x00000000 (0dec)

Index 10F3 Diagnosis history

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis history

Largest subindex of this object

UINT8

RO

0x15 (21dec)

10F3:01

Maximum messages

Maximum number of messages

UINT8

RO

0x00 (0dec)

10F3:02

Newest message

Newest message

UINT8

RO

0x00 (0dec

10F3:03

Newest acknowledged message

Newest acknowledged message

UINT8

RW

0x00 (0dec

10F3:04

New Messages available

New message available

BOOLEAN

RO

0x00 (0dec

10F3:05

Flags

 

UINT16

RW

0x0000 (0dec

10F3:06

Diagnosis message 001

Diagnostic message 001

OCTET-STRING[20]

RO

{0}

10F3:07

Diagnosis message 002

…

OCTET-STRING[20]

RO

{0}

10F3:08

Diagnosis message 003

…

OCTET-STRING[20]

RO

{0}

10F3:09

Diagnosis message 004

…

OCTET-STRING[20]

RO

{0}

10F3:0A

Diagnosis message 005

…

OCTET-STRING[20]

RO

{0}

10F3:0B

Diagnosis message 006

…

OCTET-STRING[20]

RO

{0}

10F3:0C

Diagnosis message 007

…

OCTET-STRING[20]

RO

{0}

10F3:0D

Diagnosis message 008

…

OCTET-STRING[20]

RO

{0}

10F3:0E

Diagnosis message 009

…

OCTET-STRING[20]

RO

{0}

10F3:0F

Diagnosis message 010

…

OCTET-STRING[20]

RO

{0}

10F3:10

Diagnosis message 011

…

OCTET-STRING[20]

RO

{0}

10F3:11

Diagnosis message 012

…

OCTET-STRING[20]

RO

{0}

10F3:12

Diagnosis message 013

…

OCTET-STRING[20]

RO

{0}

10F3:13

Diagnosis message 014

 

OCTET-STRING[20]

RO

{0}

10F3:14

Diagnosis message 015

…

OCTET-STRING[20]

RO

{0}

10F3:15

Diagnosis message 016

Diagnostic message 016

OCTET-STRING[20]

RO

{0}

Index 10F8 Timestamp Object

Index (hex)

Name

Meaning

Data type

Flags

Default

10F8:0

Timestamp Object

Largest subindex of this object

UINT64

RO

 

Index 10F9 Time Distribution Object

Index (hex)

Name

Meaning

Data type

Flags

Default

10F9:0

Time Distribution Object

Largest subindex of this object

UINT8

RO

0x01 (1dec)

10F9:01

Distributed Time Value

 

UINT64

RW

 

Index 1700 DPMD RxPDO-Map Outputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1700:0

DPMD RxPDO-Map Outputs Device

PDO Mapping RxPDO 257

UINT8

RO

0x00 (0dec)

1700:01

SubIndex 001

1st PDO Mapping entry (0 bits align)

UINT32

RO

0x0000:00, 0

1700:02

SubIndex 002

2nd PDO Mapping entry (0 bits align)

UINT32

RO

0x0000:00, 0

1700:03

SubIndex 003

3rd PDO Mapping entry (0 bits align)

UINT32

RO

0x0000:00, 0

1700:04

SubIndex 004

4th PDO Mapping entry (0 bits align)

UINT32

RO

0x0000:00, 0

Index 1701 DPMD RxPDO-Map DPM In

Index (hex)

Name

Meaning

Data type

Flags

Default

1701:0

DPMD RxPDO-Map DPM In

PDO Mapping RxPDO 258

UINT8

RO

0x00 (0dec)

1701:01

SubIndex 001

1st PDO Mapping entry (0 bits align)

UINT32

RO

0x0000:00, 0

1701:02

SubIndex 002

2nd PDO Mapping entry (0 bits align)

UINT32

RO

0x0000:00, 0

1701:03

SubIndex 003

3rd PDO Mapping entry (0 bits align)

UINT32

RO

0x0000:00, 0

1701:04

SubIndex 004

4th PDO Mapping entry (0 bits align)

UINT32

RO

0x0000:00, 0

1701:05

SubIndex 005

…

UINT32

RO

0x0000:00, 0

1701:06

SubIndex 006

…

UINT32

RO

0x0000:00, 0

1701:07

SubIndex 007

…

UINT32

RO

0x0000:00, 0

1701:08

SubIndex 008

…

UINT32

RO

0x0000:00, 0

1701:09

SubIndex 009

…

UINT32

RO

0x0000:00, 0

1701:0A

SubIndex 010

…

UINT32

RO

0x0000:00, 0

1701:0B

SubIndex 011

…

UINT32

RO

0x0000:00, 0

1701:0C

SubIndex 012

…

UINT32

RO

0x0000:00, 0

1701:0D

SubIndex 013

…

UINT32

RO

0x0000:00, 0

1701:0E

SubIndex 014

…

UINT32

RO

0x0000:00, 0

1701:0F

SubIndex 015

…

UINT32

RO

0x0000:00, 0

1701:10

SubIndex 016

 

UINT32

RO

0x0000:00, 0

1701:11

SubIndex 017

…

UINT32

RO

0x0000:00, 0

1701:12

SubIndex 018

…

UINT32

RO

0x0000:00, 0

1701:13

SubIndex 019

…

UINT32

RO

0x0000:00, 0

1701:14

SubIndex 020

20th PDO Mapping entry (0 bits align)

UINT32

RO

0x0000:00, 0

Index 1C00 Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Length of this object

UINT8

RO

0x04 (4dec)

1C00:01

SubIndex 001

Sync Manager Type Channel 1: Mailbox Write

UINT8

RW

0x01 (1dec)

1C00:02

SubIndex 002

Sync Manager Type Channel 2: Mailbox Read

UINT8

RW

0x02 (2dec)

1C00:03

SubIndex 003

 

UINT8

RW

0x03 (3dec)

1C00:04

SubIndex 004

 

UINT8

RW

0x04 (4dec)

Index 1C12 RxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO assign of the outputs

UINT8

RO

0x05 (5dec)

1C12:01

Subindex 001

1st assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1700 (5888dec)

1C12:02

Subindex 002

2nd assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1624 (5668dec)

1C12:03

Subindex 003

3rd assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1644 (5700dec)

1C12:04

Subindex 004

4th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1670 (5744dec)

1C12:05

Subindex 005

5th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x169C (5788dec)

1C12:06

Subindex 006

6th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:07

Subindex 007

7th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:08

Subindex 008

8th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:09

Subindex 009

9th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:010

Subindex 010

10th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO assign of the inputs

UINT8

RO

0x14 (23dec)

1C13:01

Subindex 001

1st assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A0C (6668dec)

1C13:02

Subindex 002

2nd assigned TxPDO (see above)

UINT16

RW

0x1A10 (6672dec)

1C13:03

Subindex 003

3rd assigned TxPDO (see above)

UINT16

RW

0x1A14 (6676dec)

1C13:04

Subindex 004

4th assigned TxPDO (see above)

UINT16

RW

0x1A18 (6680dec)

1C13:05

Subindex 005

5th assigned TxPDO (see above)

UINT16

RW

0x1A1C (6684dec)

1C13:06

Subindex 006

6th assigned TxPDO (see above)

UINT16

RW

0x1A20 (6688dec)

1C13:07

Subindex 007

7th assigned TxPDO (see above)

UINT16

RW

0x1A24 (6692dec)

1C13:08

Subindex 008

8th assigned TxPDO (see above)

UINT16

RW

0x1A25 (6693dec)

1C13:09

Subindex 009

9th assigned TxPDO (see above)

UINT16

RW

0x1A38 (6712dec)

1C13:0A

Subindex 010

10th assigned TxPDO (see above)

UINT16

RW

0x1A3C (6716dec)

1C13:0B

Subindex 011

11th assigned TxPDO (see above)

UINT16

RW

0x1A40 (6720dec)

1C13:0C

Subindex 012

12th assigned TxPDO (see above)

UINT16

RW

0x1A44 (6724dec)

1C13:0D

Subindex 013

13th assigned TxPDO (see above)

UINT16

RW

0x1A45 (6725dec)

1C13:0E

Subindex 014

14th assigned TxPDO (see above)

UINT16

RW

0x1A64 (6756dec)

1C13:0F

Subindex 015

15th assigned TxPDO (see above)

UINT16

RW

0x1A68 (6760dec)

1C13:10

Subindex 016

16th assigned TxPDO (see above)

UINT16

RW

0x1A6C (6764dec)

1C13:11

Subindex 017

17th assigned TxPDO (see above)

UINT16

RW

0x1A70 (6768dec)

1C13:12

Subindex 018

18th assigned TxPDO (see above)

UINT16

RW

0x1A71 (6769dec)

1C13:13

Subindex 019

19th assigned TxPDO (see above)

UINT16

RW

0x1A90 (6800dec)

1C13:14

Subindex 020

20th assigned TxPDO (see above)

UINT16

RW

0x1A94 (6804dec)

1C13:15

Subindex 021

21st assigned TxPDO (see above)

UINT16

RW

0x1A98 (6808dec)

1C13:16

Subindex 022

22nd assigned TxPDO (see above)

UINT16

RW

0x1A9C (6812dec)

1C13:17

Subindex 023

23rd assigned TxPDO (see above)

UINT16

RW

0x1A9D (6813dec)

1C13:18

Subindex 024

24th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:19

Subindex 025

25th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:1A

Subindex 026

26th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:1B

Subindex 027

27th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:1C

Subindex 028

28th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:1D

Subindex 029

29th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:1E

Subindex 030

30th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:1F

Subindex 031

31st assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:20

Subindex 032

32nd assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:21

Subindex 033

33rd assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:22

Subindex 034

34th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:23

Subindex 035

35th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:24

Subindex 036

36th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:25

Subindex 037

37th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:26

Subindex 038

38th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:27

Subindex 039

39th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

1C13:28

Subindex 040

40th assigned TxPDO (see above)

UINT16

RW

0x0000 (0dec)

Index 1C32 SM output parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8
BOOLEAN

RO

0x14 (20dec)

1C32:01

Sync mode

Current synchronization mode:

0: Free Run
1: Synchronous with SM 2 event
2: DC mode – Synchronous with SYNC0 event
3: DC mode – Synchronous 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: cycle time of the master

DC mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x000AAE60 (700000dec)

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 (DC mode only)
Bit 14 = 1: dynamic times (measurement by writing to 0x1C32:08)

UINT16

RW

0x8007 (32775dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RW

0x000AAE60 (700000dec)

1C32:06

Calc and copy time

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

UINT32

RW

0x00000000 (0dec)

1C32:08

Command

0: Measurement of the local cycle time is stopped

1: Measurement of the local cycle time is started

0x1C32:033, 0x1C32:05, 0x1C32:06, 0x1C32:09, 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)

1C32:09

Delay time

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

UINT32

RW

0x00000000 (0dec)

1C32:0B

SM event missed counter

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

UINT166

RW

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

RW

0x0000 (0dec)

1C32:0D

Shift too short counter

Number of intervals between SYNC0 and SYNC1 events that are too short (DC Mode only)

UINT16

RW

0x0000 (0dec)

1C32:20

Sync error

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

BOOLEAN

RW

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

0x14 (20dec)

1C33:01

Sync mode

Current synchronization mode:

0: Free Run
1: Synchronous with SM 3 event (no outputs available)
2: DC – Synchronous with SYNC0 event
3: DC – Synchronous with SYNC1 event
34: Synchronous with SM 2 event (outputs available)

UINT16

RW

0x0022 (34dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

0x000AAE60 (700000dec)

1C33:03

Shift time

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

UINT32

RW

0x00000000 (0dec)

1C33:04

Sync modes supported

Supported synchronization modes:

Bit 0: Free Run is supported

Bit 1: Synchronization with SM 2 event is supported (outputs available)

Bit 1: Synchronization 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 0x1C32:08 or 0x1C33:08)

UINT16

RW

0x8007 (32775dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RW

0x000AAE60 (700000dec)

1C33:06

Calc and copy time

Time between reading of the inputs and the inputs being available for the master (in ns, DC mode only)

UINT32

RW

0x00000000 (0dec)

1C33:08

Command

as 0x1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

Delay time

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

UINT32

RW

0x00000000 (0dec)

1C33:0B

SM event missed counter

as 0x1C32:0B

UINT16

RW

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:0C

UINT16

RW

0x0000 (0dec)

1C33:0D

Shift too short counter

as 0x1C32:0D

UINT16

RW

0x0000 (0dec)

1C33:20

Sync error

as 0x1C32:20

BOOLEAN

RWW

0x00 (0dec)