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

0x01901389 (26219401dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL40xx-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

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

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

0x0Fxx3052

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

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)

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0dec)

Index 1600 RxPDO-Map Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

RxPDO-Map Outputs Ch.1

PDO Mapping RxPDO 1

UINT8

RW

0x01 (1dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (AO outputs Ch.1), entry 0x01 (Analog output))

UINT32

RW

0x7000:01, 16

Index 1601 RxPDO-Map Outputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

RxPDO-Map Outputs Ch.2

PDO Mapping RxPDO 2

UINT8

RW

0x01 (1dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (AO outputs Ch.2), entry 0x01 (Analog output))

UINT32

RW

0x7010:01, 16

Index 1602 RxPDO-Map Outputs Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

RxPDO-Map Outputs Ch.3

PDO Mapping RxPDO 3

UINT8

RW

0x01 (1dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (AO outputs Ch.3), entry 0x01 (Analog output))

UINT32

RW

0x7020:01, 16

Index 1603 RxPDO-Map Outputs Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1603:0

RxPDO-Map Outputs Ch.4

PDO Mapping RxPDO 4

UINT8

RW

0x01 (1dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7030 (AO outputs Ch.4), entry 0x01 (Analog output))

UINT32

RW

0x7030:01, 16

Index 1604 RxPDO-Map Outputs Ch.5

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

RxPDO-Map Outputs Ch.5

PDO Mapping RxPDO 5

UINT8

RW

0x01 (1dec)

1604:01

SubIndex 001

1. PDO Mapping entry (object 0x7040 (AO outputs Ch.5), entry 0x01 (Analog output))

UINT32

RW

0x7040:01, 16

Index 1605 RxPDO-Map Outputs Ch.6

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

RxPDO-Map Outputs Ch.6

PDO Mapping RxPDO 6

UINT8

RW

0x01 (1dec)

1605:01

SubIndex 001

1. PDO Mapping entry (object 0x7050 (AO outputs Ch.6), entry 0x01 (Analog output))

UINT32

RW

0x7050:01, 16

Index 1606 RxPDO-Map Outputs Ch.7

Index (hex)

Name

Meaning

Data type

Flags

Default

1606:0

RxPDO-Map Outputs Ch.7

PDO Mapping RxPDO 7

UINT8

RW

0x01 (1dec)

1606:01

SubIndex 001

1. PDO Mapping entry (object 0x7060 (AO outputs Ch.7), entry 0x01 (Analog output))

UINT32

RW

0x7060:01, 16

Index 1607 RxPDO-Map Outputs Ch.8

Index (hex)

Name

Meaning

Data type

Flags

Default

1607:0

RxPDO-Map Outputs Ch.8

PDO Mapping RxPDO 8

UINT8

RW

0x01 (1dec)

1607:01

SubIndex 001

1. PDO Mapping entry (object 0x7070 (AO outputs Ch.8), entry 0x01 (Analog output))

UINT32

RW

0x7070:01, 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

0x08 (8dec)

1C12:01

SubIndex 001

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

UINT16

RW

0x1600 (5632dec)

1C12:02

SubIndex 002

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

UINT16

RW

0x1601 (5633dec)

1C12:03

SubIndex 003

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

UINT16

RW

0x1602 (5634dec)

1C12:04

SubIndex 004

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

UINT16

RW

0x1603 (5635dec)

1C12:05

SubIndex 005

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

UINT16

RW

0x1604 (5636dec)

1C12:06

SubIndex 006

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

UINT16

RW

0x1605 (5637dec)

1C12:07

SubIndex 007

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

UINT16

RW

0x1606 (5638dec)

1C12:08

SubIndex 008

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

UINT16

RW

0x1607 (5639dec)

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

0x20 (32dec)

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

0x0001 (1dec)

1C32:02

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

0x00000000 (0dec)

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

RO

0x8007 (32775dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C32:08

Command

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

The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09 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

RO

0x00000000 (0dec)

1C32:0B

SM event missed counter

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

UINT16

RO

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

RO

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

RO

0x0000 (0dec)

1C32:20

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 spacing of the objects of the individual channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0008 (8dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

Code word (currently reserved)

UINT32

RW

0x00000000 (0dec)