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 profile used (5001).

UINT32

RO

0x00001389 (5001)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

 

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

 

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

Length of this object

UINT8

RO

>4<

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

0x00000002

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

 

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

0x00100000 (1048576dec)

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

Index (hex)

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter

Length of this object

UINT8

RO

>1<

10F0:01

Checksum

Checksum

UINT32

RW

0x00000000 (0dec)

Index 10F3 Diagnosis History

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis History

Maximum subindex

UINT8

RO

>21<

10F3:01

Maximum Messages

Maximum number of stored messages
A maximum of 16 messages can be stored

UINT8

RO

0x10 (16dec)

10F3:02

Newest Message

Subindex of the latest message

UINT8

RO

0x00 (0dec)

10F3:03

Newest Acknowledged Message

Subindex of the last confirmed message

UINT8

RW

0x00 (0dec)

10F3:04

New Messages Available

Indicates that a new message is available

BOOLEAN

RO

0x00 (0dec)

10F3:05

Flags

not used

UINT16

RW

0x0000 (0dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET-STRING[28]

RO

{0}

...

...

...

 

 

 

10F3:15

Diagnosis Message 016

Message 16

OCTET-STRING[28]

RO

{0}

Index 10F8 Actual Time Stamp

Index (hex)

Name

Meaning

Data type

Flags

Default

10F8:0

Actual Time Stamp

Time stamp

UINT64

RO

 

Index 1600 RxPDO-Map Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

RxPDO-Map Ch.1

PDO mapping of RxPDO 1

UINT8

RO

>1<

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (PM Outputs Ch.1), entry 0x01 (Index))

UINT32

RW

0x7000:01, 8

Index 1601 RxPDO-Map Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

RxPDO-Map Ch.2

PDO mapping of RxPDO 2

UINT8

RO

>1<

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (PM Outputs Ch.2), entry 0x01 (Index))

UINT32

RW

0x7010:01, 8

Index 1602 RxPDO-Map Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

RxPDO-Map Ch.3

PDO mapping of RxPDO 3

UINT8

RO

>1<

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (PM Outputs Ch.3), entry 0x01 (Index))

UINT32

RW

0x7020:01, 8

Index 1603 RxPDO-Map Auxiliary Channel

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

RxPDO-Map Ch.3

PDO mapping of RxPDO 3

UINT8

RO

>2<

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7030 (PM Outputs Ch.3), entry 0x01 (Index))

UINT32

RW

0x7030:01, 8

1603:02

SubIndex 002

1. PDO Mapping entry (object 0x7030 (PM Auxiliary Outputs Ch.3), entry 0x02 (Channel))

UINT32

RW

0x7030:02, 8

Index 1A00 TxPDO-Map Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

TxPDO-Map Ch.1

PDO Mapping of TxPDO 1

UINT8

RO

>16<

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x01 (Undervoltage))

UINT32

RW

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x02 (Overvoltage))

UINT32

RW

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x03 (Overcurrent))

UINT32

RW

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x05 (Phase sequence cw))

UINT32

RW

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x06 (Phase sequence cw))

UINT32

RW

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x7 (Missing zero crossing))

UINT32

RW

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 7

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x0F (TxPDO State))

UINT32

RW

0x6000:0F, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RW

0x6000:10, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x11 (Current))

UINT32

RW

0x6000:11, 32

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x12 (Voltage))

UINT32

RW

0x6000:12, 32

1A00:0D

SubIndex 013

13. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x13 (Active power))

UINT32

RW

0x6000:13, 32

1A00:0E

SubIndex 014

14. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x14 (Index))

UINT32

RW

0x6000:14, 8

1A00:0F

SubIndex 015

15. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 8

1A00:10

SubIndex 016

16. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x1D (VariantValue))

UINT32

RW

0x6000:1D, 32

Index 1A01 TxPDO-Map Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

TxPDO-Map Ch.2

PDO Mapping of TxPDO 2

UINT8

RO

>16<

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x01 (Undervoltage))

UINT32

RW

0x6010:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x02 (Overvoltage))

UINT32

RW

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x03 (Overcurrent))

UINT32

RW

0x6010:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x05 (Phase sequence cw))

UINT32

RW

0x6010:05, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x06 (Phase sequence ccw))

UINT32

RW

0x6010:06, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x7 (Missing zero crossing))

UINT32

RW

0x6010:07, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 7

1A01:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x0F (TxPDO State))

UINT32

RW

0x6010:0F, 1

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RW

0x6010:10, 1

1A01:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x11 (Current))

UINT32

RW

0x6010:11, 32

1A01:0C

SubIndex 012

12. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x12 (Voltage))

UINT32

RW

0x6010:12, 32

1A01:0D

SubIndex 013

13. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x13 (Active power))

UINT32

RW

0x6010:13, 32

1A01:0E

SubIndex 014

14. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x14 (Index))

UINT32

RW

0x6010:14, 8

1A01:0F

SubIndex 015

15. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 8

1A01:10

SubIndex 016

16. PDO Mapping entry (object 0x6010 (PM Inputs Ch.1), entry 0x1D (VariantValue))

UINT32

RW

0x6010:1D, 32

Index 1A02 TxPDO-Map Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

TxPDO-Map Ch.3

PDO Mapping of TxPDO 3

UINT8

RO

>16<

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x01 (Undervoltage))

UINT32

RW

0x6020:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x02 (Overvoltage))

UINT32

RW

0x6020:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x03 (Overcurrent))

UINT32

RW

0x6020:03, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x05 (Phase sequence cw))

UINT32

RW

0x6020:05, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x06 (Phase sequence ccw))

UINT32

RW

0x6020:06, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x7 (Missing zero crossing))

UINT32

RW

0x6020:07, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 7

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x0F (TxPDO State))

UINT32

RW

0x6020:0F, 1

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RW

0x6020:10, 1

1A02:0B

SubIndex 011

11. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x11 (Current))

UINT32

RW

0x6020:11, 32

1A02:0C

SubIndex 012

12. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x12 (Voltage))

UINT32

RW

0x6020:12, 32

1A02:0D

SubIndex 013

13. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x13 (Active power))

UINT32

RW

0x6020:13, 32

1A02:0E

SubIndex 014

14. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x14 (Index))

UINT32

RW

0x6020:14, 8

1A02:0F

SubIndex 015

15. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 8

1A02:10

SubIndex 016

16. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1), entry 0x1D (VariantValue))

UINT32

RW

0x6020:1D, 32

Index 1A03 TxPDO-Map Auxiliary

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

TxPDO-Map Auxiliary

PDO Mapping of TxPDO 4

UINT8

RO

>8<

1A03:01

SubIndex 001

1. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 2

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (PM Auxiliary, entry 0x03 (Overcurrent))

UINT32

RW

0x6030:03, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 11

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (PM Auxiliary), entry 0x0F (TxPDO State))

UINT32

RW

0x6030:0F, 1

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (PM Auxiliary), entry 0x10 (TxPDO Toggle))

UINT32

RW

0x6030:10, 1

1A03:06

SubIndex 005

6. PDO Mapping entry (object 0x6030 (PM Auxiliary), entry 0x11 (Index))

UINT32

RW

0x6030:11, 8

1A03:07

SubIndex 005

7. PDO Mapping entry (object 0x6030 (PM Auxiliary), entry 0x12 (Channel))

UINT32

RW

0x6030:12, 8

1A03:08

SubIndex 005

8. PDO Mapping entry (object 0x6030 (PM Auxiliary, entry 0x13 (Value))

UINT32

RW

0x6030:13, 32

Index 1C00 Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Length of this object

UINT8

RO

>4<

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

Sync-Manager Type Channel 3: Process Data Write (Outputs)

UINT8

RW

0x03 (3dec)

1C00:04

SubIndex 004

Sync-Manager Type Channel 4: Process Data Read (Inputs)

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

>4<

1C32:01

Subindex 001

1. assigned PDO (RxPDO-Map Ch.1 (RxPDO 1))

UINT16

RW

0x1600 (5632dec)

1C12:02

Subindex 002

2. assigned PDO (RxPDO-Map Ch.2 (RxPDO 2))

UINT16

RW

0x1601 (5633dec)

1C12:03

Subindex 003

3. assigned PDO (RxPDO-Map Ch.3 (RxPDO 3))

UINT16

RW

0x1602 (5634dec)

1C12:04

Subindex 004

4. assigned PDO (RxPDO-Map Auxiliary (RxPDO 4))

UINT16

RW

0x1603 (5634dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign of the Inputs

UINT8

RO

>4<

1C13:01

Subindex 001

1. assigned PDO (TxPDO-Map Ch.1 (TxPDO 1))

UINT16

RW

0x1A00 (6656dec)

1C13:02

Subindex 002

2. assigned PDO (TxPDO-Map Ch.2 (TxPDO 2))

UINT16

RW

0x1A01 (6657dec)

1C13:03

Subindex 003

3. assigned PDO (TxPDO-Map Ch.3 (TxPDO 3))

UINT16

RW

0x1A02 (6658dec)

1C13:04

Subindex 004

4. assigned PDO (TxPDO-Map Auxiliary (TxPDO 4))

UINT16

RW

0x1A03 (6659dec)

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

>32<

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

0x0000 (0dec)

1C32:02

Cycle time

Cycle time (in ns):

  • Free Run: Cycle time of the local timer
  • Synchron with SM 2 Event: Master cycle time
  • 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 (only DC mode)
  • Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08)

UINT16

RW

0x0001 (1dec)

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 occasions that the interval between SYNC0 and SYNC1 event was 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

>32<

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

0x0000 (0dec)

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, only DC mode)

UINT32

RW

0x00000000 (0dec)

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 0x1C32:08 or 0x1C33:08)

UINT16

RW

0x0001 (1dec)

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 availability of the inputs for the master (in ns, only DC mode)

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, only DC mode)

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)