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 |
EL36xx |
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 | EL3602: EL3602-0010: EL3612: EL3621-0020: |
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 | EL3602: EL3602-0010: EL3612: EL3621-0020: |
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 standardised loading and saving of backup entries |
UINT8 |
RO |
0x01 (1dec) |
|
10F0:01 |
Checksum |
Checksum across all backup entries of the EtherCAT slave |
UINT32 |
RO |
0x00000000 (0dec) |
Index 1A00 AI TxPDO-Map Inputs Ch.1
|
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
|---|---|---|---|---|---|
|
1A00:0 |
AI TxPDO-Map Inputs Ch.1 |
PDO Mapping TxPDO 1 |
UINT8 |
RW |
0x09 (9dec) |
|
1A00:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x01 (Underrange)) |
UINT32 |
RW |
0x6000:01, 1 |
|
1A00:02 |
SubIndex 002 |
2. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x02 (Overrange)) |
UINT32 |
RW |
0x6000:02, 1 |
|
1A00:03 |
SubIndex 003 |
3. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x03 (Limit 1)) |
UINT32 |
RW |
0x6000:03, 2 |
|
1A00:04 |
SubIndex 004 |
4. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x05 (Limit 2)) |
UINT32 |
RW |
0x6000:05, 2 |
|
1A00:05 |
SubIndex 005 |
5. PDO Mapping entry (object 0x6000 (AI 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 0x1800, entry 0x07 (TxPDO State)) |
UINT32 |
RW |
0x1800:07, 1 |
|
1A00:08 |
SubIndex 008 |
8. PDO Mapping entry (object 0x1800, entry 0x09 (TxPDO-Toggle)) |
UINT32 |
RW |
0x1800:09, 1 |
|
1A00:09 |
SubIndex 009 |
9. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x11 (Value)) |
UINT32 |
RW |
0x6000:11, 32 |
Index 1A01*** AI TxPDO-Map Inputs Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
1A01:0 | AI TxPDO-Map Inputs Ch.2 | PDO Mapping TxPDO 2 | UINT8 | RW | 0x09 (9dec) |
1A01:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x01 (Underrange)) | UINT32 | RW | 0x6000:01, 1 |
1A01:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x02 (Overrange)) | UINT32 | RW | 0x6000:02, 1 |
1A01:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x03 (Limit 1)) | UINT32 | RW | 0x6000:03, 2 |
1A01:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x05 (Limit 2)) | UINT32 | RW | 0x6000:05, 2 |
1A01:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x07 (Error)) | UINT32 | RW | 0x6000:07, 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 0x1800, entry 0x07 (TxPDO State)) | UINT32 | RW | 0x1800:07, 1 |
1A01:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x1800, entry 0x09 (TxPDO-Toggle)) | UINT32 | RW | 0x1800:09, 1 |
1A01:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x11 (Value)) | UINT32 | RW | 0x6000:11, 32 |
***) EL3602 (EL3602-xxxx), EL3612 (EL3612-xxxx) only
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 | EL3621-0020: |
0x02 (2dec)*** | |||||
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) |
***) EL3602 (EL3602-xxxx), EL3612 (EL3612-xxxx) only
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 Synchron with SM 2 event: Master cycle time DC mode: SYNC0/SYNC1 Cycle Time | UINT32 | RW | 0x00000000 (0dec) |
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 0x1C33:08) | UINT16 | RO | 0xC007 (49159dec) |
1C33:05 | Minimum cycle time | Minimum cycle time (in ns) | UINT32 | RO | 0x00000000 (0dec) |
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) |
1C33:08 | 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. | UINT16 | RW | 0x0000 (0dec) |
1C33:09 | 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) |