Standard objects

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

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

EL3783-0000

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 100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Bootloader version

Version of Bootloader

STRING

RO

-

Index 1018 Identity

Index (hex)

Name

Meaning

Data type

Flags

Default

1018:0

Identity

Information for identifying the slave

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

0x0EBD3052
(247279698dec)

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

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

> 1 <

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0dec)

Index 18pp L1/2/3 Voltage/Current TxPDO-Par Samples (for Ch.1 ... Ch.6;   01hex ≤ pp ≤ 5Fhex, pp ≠ 10, 20, 30, 40, 50)

Index (hex)

Name

Meaning

Data type

Flags

Default

18pp:0

AI TxPDO-Par Sample

PDO Parameter TxPDO

UINT8

RO

> 6 <

18pp:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

see
Predefined PDO Assignment

Index 1Ap0 L1/2/3 Voltage/Current TxPDO-Map Status (for p = 0...5; dependent on the number of channels)

Index (hex)

Name

Meaning

Data type

Flags

Default

1Ap0:0

AI TxPDO-Map Status

PDO Mapping TxPDO

UINT8

RO

> 10 <

1Ap0:01

SubIndex 001

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

UINT32

RO

0x60p0:01, 1

1Ap0:02

SubIndex 002

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

UINT32

RO

0x60p0:02, 1

1Ap0:03

SubIndex 003

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

UINT32

RO

0x60p0:03, 2

1Ap0:04

SubIndex 004

4. PDO Mapping entry (2 bit align)

UINT32

RO

0x0000:00, 2

1Ap0:05

SubIndex 005

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

UINT32

RO

0x60p0:07, 1

1Ap0:06

SubIndex 006

6. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1Ap0:07

SubIndex 007

7. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1Ap0:08

SubIndex 008

8. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x0E (Sync error))

UINT32

RO

0x60p0:0E, 1

1Ap0:09

SubIndex 009

9. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x60p0:0F, 1

1Ap0:0A

SubIndex 010

10. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x60p0:10, 1

Index 1Apq L1/2/3 Voltage/Current TxPDO-Map Samples

Index (hex)

Name

Meaning

Data type

Flags

Default

1Apq:0

AI TxPDO-Map Samples

n

p

q

UINT8

RO

> n <

1dec = Max. Subindex: 001
2dec = Max. Subindex: 002
4dec  = Max. Subindex: 004
5dec = Max. Subindex: 005
8dec = Max. Subindex: 008
10dec = Max. Subindex: 010
16dec = Max. Subindex: 016
20dec = Max. Subindex: 020
25dec = Max. Subindex: 025
32dec = Max. Subindex: 032
40dec = Max. Subindex: 040
50dec = Max. Subindex: 050
64dec = Max. Subindex: 064
80dec = Max. Subindex: 080
100dec = Max. Subindex:100

0x0 = L1 Voltage Samples
0x1 = L1 Current Samples
0x2 = L2 Voltage Samples
0x3 = L2 Current Samples
0x4 = L3 Voltage Samples
0x5 = L3 Current Samples

0x1 = 1 Sample
0x60p2:01, 16
0x2 = 2 Samples,
0x60p2:01, 16
0x60p2:02, 16
0x3 = 4 Samples,
0x60p2:01, 16
....
0x60p2:04, 16
0x4 = 5 Samples,....
0x5  =  8 Samples,....
0x6 = 10 Samples,....
0x7 = 16 Samples,....
0x8 = 20 Samples,....
0x9 = 25 Samples,....
0xA = 32 Samples,....
0xB = 40 Samples,....
0xC = 50 Samples,....
0xD = 64 Samples,....
0xE = 80 Samples,....
0xF = 100 Samples,

0x60p2:01, 16
....
0x60p2:64, 16

1Apq:hh

(for 01hex ≤ hh ≤ 64hex)

Subindex n

Voltage Samples or Current Samples

INT16

RO

-

Index 1A60 AI TxPDO-Map NextSyncTime

Index (hex)

Name

Meaning

Data type

Flags

Default

1A60:0

AI TxPDO-Map NextSyncTime

Max. subindex

UINT8

RO

> 1 <

1A60:01

Subindex 001

1. PDO Mapping entry (object 0x6060 (NextSync1 Time), entry 0x01 (Lo))

UINT32

RO

0x6060:01, 32

1A60:02

Subindex 002

2. PDO Mapping entry (object 0x6060 (NextSync1 Time), entry 0x02 (Hi))

UINT32

RO

0x6060:02, 32

Index 1A61 AI TxPDO-Map Sample Count

Index (hex)

Name

Meaning

Data type

Flags

Default

1A60:0

AI Sample Count

Max. subindex

UINT8

RO

> 1 <

1A61:01

Subindex 001

1. PDO Mapping entry (object 0x6061 (AI Inputs), entry 0x01 (SampleCount))

UINT16

RO

0x6061:01, 16

Index 1A62 AI TxPDO-Map Synchron Oversampling Diagnosis

Index (hex)

Name

Meaning

Data type

Flags

Default

1A62:0

AI TxPDO-Map Synchron Oversampling Diagnosis

Max. subindex

UINT8

RO

> 3 <

1A62:01

Subindex 001

1. PDO Mapping entry (object 0x6062 (Synchron Oversampling Diagnosis), entry 0x02 (Measured Cycle Time))

UINT32

RO

0x6062:02, 32

1A62:02

Subindex 002

2. PDO Mapping entry (object 0x6062 (Synchron Oversampling Diagnosis), entry 0x03 (Internal Cycle Time))

UINT32

RO

0x6062:03, 32

1A62:03

Subindex 003

3. PDO Mapping entry (object 0x6062 (Synchron Oversampling Diagnosis), entry 0x04 (Internal Buffer))

UINT32

RO

0x6062:04, 16

Index 1A63 AI TxPDO-Map Current Range

Index (hex)

Name

Meaning

Data type

Flags

Default

1A63:0

AI TxPDO-Map Current Range

Max. Subindex

UINT8

RO

> 6 <

1A63:01

Subindex 001

1. PDO Mapping entry (object 0x6063 (Current Range), entry 0x01 (High Current Range 1))

UINT32

RO

0x6063:01, 8

1A63:02

Subindex 002

2. PDO Mapping entry (object 0x6063 (Current Range), entry 0x02 (High Current Range 2))

UINT32

RO

0x6063:02, 8

1A63:03

Subindex 003

3. PDO Mapping entry (object 0x6063 (Current Range), entry 0x03 (High Current Range 2))

UINT32

RO

0x6063:03, 8

1A63:04

Subindex 004

4. PDO Mapping entry (object 0x6063 (Current Range), entry 0x04 (High Current Range 4))

UINT32

RO

0x6063:04, 8

1A63:05

Subindex 005

5. PDO Mapping entry (object 0x6063 (Current Range), entry 0x05 (High Current Range Active))

UINT32

RO

0x6063:05, 1

1A63:06

Subindex 006

6. PDO Mapping entry (object 0x6063 (Current Range), entry 0x00 (Align))

UINT32

RO

0x0000:00, 15

Index 1C00 0 Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Using the sync managers

UINT8

RO

> 4 <

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

> 0 <

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

 > 13 <

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

0x1A06 (6662dec)

1C13:03

SubIndex 003

3. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A10 (6672dec)

1C13:04

SubIndex 004

4. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A16 (6678dec)

1C13:05

SubIndex 005

5. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A20 (6688dec)

1C13:06

SubIndex 006

6. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A26 (6694dec)

1C13:07

SubIndex 007

7. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A30 (6704dec)

1C13:08

SubIndex 008

8. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A36 (6710dec)

1C13:09

SubIndex 009

9. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A40 (6720dec)

1C13:0A

SubIndex 010

10. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A46 (6726dec)

1C13:0B

SubIndex 011

11. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A50 (6736dec)

1C13:0C

SubIndex 012

12. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A56 (6742dec)

1C13:0D

SubIndex 013

13. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A61 (6753dec)

..

..

..

..

..

..

1C13:13

SubIndex 019

-

-

-

-

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:

  • Bit 0 = 0: Free Run
  • Bit 0 = 1: Synchron with SM 2 Event
  • Bit 0-1 = 11: DC with SYNC1 event
  • Bit 15 = 1: Fast Mode

UINT16

RW

0x0002 (2dec)

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

0x003D0900 (4000000dec)

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 = 1: Free Run
  • Bit 1 = 1: Synchron with SM 2 Event (Outputs available
  • Bit 2 = 1: DC-Mode (SYNC0)
  • Bit 3 = 1: DC-Mode (SYNC1)
  • Bit 12 = 1: Legacy Synchron
  • Bit 13 = 1: SM event
  • Bit 14 = 1: dynamic times (measure by writing 0x1C33:08)
  • Bit 15 = 1: Fast Mode

UINT16

RO

0x0806 (2054dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000dec)

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

Command

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, 0x1C33:09 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

FALSE

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

> 2 <

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

0x0010 (10dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index (hex)

Name

Meaning

Data type

Flags

Default

F010:0

Module list

Maximum subindex

UINT8

RW

> 10 <

F010:01

SubIndex 001

Analog input profile (300)

UINT32

RW

0x0000012C (300dec)

F010:02

SubIndex 002

Analog input profile (300)

UINT32

RW

0x0000012C (300dec)

F010:03

SubIndex 003

Analog input profile (300)

UINT32

RW

0x0000012C (300dec)

F010:04

SubIndex 004

Analog input profile (300)

UINT32

RW

0x0000012C (300dec)

F010:05

SubIndex 005

Analog input profile (300)

UINT32

RW

0x0000012C (300dec)

F010:06

SubIndex 006

Analog input profile (300)

UINT32

RW

0x0000012C (300dec)

F010:07

SubIndex 007

Analog input profile (300)

UINT32

RW

0x0000012C (300dec)

F010:08

SubIndex 008

Analog input profile (342)

UINT32

RW

0x00000156 (342dec)

F010:09

SubIndex 009

Analog input profile (342)

UINT32

RW

0x00000156 (342dec)

F010:10

SubIndex 010

Analog input profile (342)

UINT32

RW

0x00000156 (342dec)

Index F081 Download revision

Index (hex)

Name

Meaning

Data trype

Flags

Default

F008:0

Download revision

reserved

UINT32

RW

0x00000000 (0dec)