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 | 0x02011389 (33624969dec) |
Index 1008 Device name
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1008:0 | Device name | Device name of the EtherCAT slave | STRING | RO | EL5042 |
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 | 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 | 0x13B23052 (330444882dec) |
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 (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 1800 FB TxPDO-Par Inputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1800:0 | FB TxPDO-Par Inputs Ch.1 | PDO parameter TxPDO 1 | UINT8 | RO | 0x06 (6dec) |
1800:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1 | OCTET-STRING[2] | RO | 02 1A |
Index 1801 FB TxPDO-Par Inputs Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1801:0 | FB TxPDO-Par Inputs Ch.2 | PDO parameter TxPDO 2 | UINT8 | RO | 0x06 (6dec) |
1801:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2 | OCTET-STRING[2] | RO | 03 1A |
Index 1802 FB TxPDO-Par Inputs Ch.1 compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1802:0 | FB TxPDO-Par Inputs Ch.1 compact | PDO parameter TxPDO 3 | UINT8 | RO | 0x06 (6dec) |
1802:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 3 | OCTET-STRING[2] | RO | 00 1A |
Index 1803 FB TxPDO-Par Inputs Ch.2 compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1803:0 | FB TxPDO-Par Inputs Ch.2 compact | PDO parameter TxPDO 4 | UINT8 | RO | 0x06 (6dec) |
1803:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4 | OCTET-STRING[2] | RO | 01 1A |
Index 1A00 FB TxPDO-Map Inputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A00:0 | FB TxPDO-Map Inputs Ch.1 | PDO Mapping TxPDO 1 | UINT8 | RO | 0x09 (9dec) |
1A00:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x01 (Warning)) | UINT32 | RO | 0x6000:01, 1 |
1A00:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x02 (Error)) | UINT32 | RO | 0x6000:02, 1 |
1A00:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x03 (Ready)) | UINT32 | RO | 0x6000:03, 1 |
1A00:04 | SubIndex 004 | 4. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A00:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A00:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0D (Diag)) | UINT32 | RO | 0x6000:0D, 1 |
1A00:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0E (TxPDO State)) | UINT32 | RO | 0x6000:0E, 1 |
1A00:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0F (Input cycle counter)) | UINT32 | RO | 0x6000:0F, 2 |
1A00:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x11 (Position)) | UINT32 | RO | 0x6000:11, 64 |
Index 1A01 FB TxPDO-Map Inputs Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A01:0 | FB TxPDO-Map Inputs Ch.2 | PDO Mapping TxPDO 2 | UINT8 | RO | 0x09 (9dec) |
1A01:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x01 (Warning)) | UINT32 | RO | 0x6010:01, 1 |
1A01:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x02 (Error)) | UINT32 | RO | 0x6010:02, 1 |
1A01:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x03 (Ready)) | UINT32 | RO | 0x6010:03, 1 |
1A01:04 | SubIndex 004 | 4. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A01:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A01:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0D (Diag)) | UINT32 | RO | 0x6010:0D, 1 |
1A01:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0E (TxPDO State)) | UINT32 | RO | 0x6010:0E, 1 |
1A01:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0F (Input cycle counter)) | UINT32 | RO | 0x6010:0F, 2 |
1A01:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x11 (Position)) | UINT32 | RO | 0x6010:11, 64 |
Index 1A02 FB TxPDO-Map Inputs Ch.1 compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A02:0 | FB TxPDO-Map Inputs Ch.1 compact | PDO Mapping TxPDO 3 | UINT8 | RO | 0x09 (9dec) |
1A02:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x01 (Warning)) | UINT32 | RO | 0x6000:01, 1 |
1A02:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x02 (Error)) | UINT32 | RO | 0x6000:02, 1 |
1A02:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x03 (Ready)) | UINT32 | RO | 0x6000:03, 1 |
1A02:04 | SubIndex 004 | 4. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A02:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A02:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0D (Diag)) | UINT32 | RO | 0x6000:0D, 1 |
1A02:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0E (TxPDO State)) | UINT32 | RO | 0x6000:0E, 1 |
1A02:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0F (Input cycle counter)) | UINT32 | RO | 0x6000:0F, 2 |
1A02:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x11 (Position)) | UINT32 | RO | 0x6000:11, 32 |
Index 1A03 FB TxPDO-Map Inputs Ch.2 compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A03:0 | FB TxPDO-Map Inputs Ch.2 compact | PDO Mapping TxPDO 4 | UINT8 | RO | 0x09 (9dec) |
1A03:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x01 (Warning)) | UINT32 | RO | 0x6010:01, 1 |
1A03:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x02 (Error)) | UINT32 | RO | 0x6010:02, 1 |
1A03:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x03 (Ready)) | UINT32 | RO | 0x6010:03, 1 |
1A03:04 | SubIndex 004 | 4. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A03:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A03:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0D (Diag)) | UINT32 | RO | 0x6010:0D, 1 |
1A03:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0E (TxPDO State)) | UINT32 | RO | 0x6010:0E, 1 |
1A03:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0F (Input cycle counter)) | UINT32 | RO | 0x6010:0F, 2 |
1A03:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x11 (Position)) | UINT32 | RO | 0x6010:11, 32 |
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 | 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) |
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:
| UINT16 | RW | 0x0022 (34dec) |
1C33:02 | Cycle time | Cycle time (in ns):
| UINT32 | RW | 0x000F4240 (1000000dec) |
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:
| UINT16 | RO | 0x0807 (2055dec) |
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 |
The entries 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values. | 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 | 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 distance of the objects of the individual channels | UINT16 | RO | 0x0010 (16dec) |
F000:02 | Maximum number of modules | Number of channels | UINT16 | RO | 0x0002 (2dec) |
Index F008 Code word
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
F008:0 |
Code word |
see object 0x80p8:13 |
UINT32 |
RW |
0x00000000 (0dec) |
Index F010 Module list
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F010:0 | Module list | Max. subindex | UINT8 | RW | 0x02 (2dec) |
F010:01 | SubIndex 001 | MDP FB profiles 513 | UINT32 | RW | 0x00000201 (513dec) |
F010:02 | SubIndex 002 | MDP FB profiles 513 | UINT32 | RW | 0x00000201 (513dec) |