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 |
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 |
EL6692-0000 |
Index 1009 Hardware version
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1009:0 |
Hardware version |
Hardware version of the EtherCAT slave |
STRING |
RO |
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 |
02 |
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 |
0x1A243052 (438579282dec) |
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 1600 RxPDO-Map
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1600:0 |
RxPDO-Map |
PDO mapping RxPDO 1 (PDO mapping of the declared output process data) |
UINT8 |
RW |
0x00 (0dec) |
1600:01 |
- |
- |
- |
- |
- |
... |
|
|
|
|
|
1600:FF |
- |
- |
- |
- |
- |
Index 1801 TxPDO-Par External Sync Compact
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1801:0 |
TxPDO-Par External Sync Compact |
PDO parameter TxPDO 2 |
UINT8 |
RO |
0x09 (9dec) |
1801:06 |
Exclude TxPDOs |
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2 |
OCTET-STRING[4] |
RO |
02 1A 03 1A |
1801:07 |
TxPDO State |
The TxPDO state is set if it was not possible to correctly read in the associated input data |
BOOLEAN |
RO |
0x00 (0dec) |
1801:09 |
TxPDO Toggle |
The TxPDO toggle is toggled with each update the corresponding input data |
BOOLEAN |
RO |
0x00 (0dec) |
Index 1802 TxPDO-Par External Sync
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1802:0 |
TxPDO-Par External Sync |
PDO parameter TxPDO 3 |
UINT8 |
RO |
0x09 (9dec) |
1802:06 |
Exclude TxPDOs |
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 3 |
OCTET-STRING[4] |
RO |
01 1A 03 1A |
1802:07 |
TxPDO State |
The TxPDO state is set if it was not possible to correctly read in the associated input data |
BOOLEAN |
RO |
0x00 (0dec) |
1802:09 |
TxPDO Toggle |
The TxPDO toggle is toggled with each update the corresponding input data |
BOOLEAN |
RO |
0x00 (0dec) |
Index 1803 TxPDO-Par External Sync (32 Bit)
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1803:0 |
TxPDO-Par External Sync (32 Bit) |
PDO parameter TxPDO 4 |
UINT8 |
RO |
0x09 (9dec) |
1803:06 |
Exclude TxPDOs |
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4 |
OCTET-STRING[4] |
RO |
01 1A 02 1A |
1803:07 |
TxPDO State |
The TxPDO state is set if it was not possible to correctly read in the associated input data |
BOOLEAN |
RO |
0x00 (0dec) |
1803:09 |
TxPDO Toggle |
The TxPDO toggle is toggled with each update the corresponding input data |
BOOLEAN |
RO |
0x00 (0dec) |
Index 1A00 TxPDO-Map
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A00:0 |
TxPDO Map |
PDO mapping TxPDO 1 (PDO mapping of the declared input process data) |
UINT8 |
RW |
0x00 (0dec) |
1A00:01 |
- |
- |
- |
- |
- |
... |
|
|
|
|
|
1A00:FF |
- |
- |
- |
- |
- |
Index 1A02 TxPDO-Map External Sync Compact
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A01:0 |
TxPDO-Map External Sync Compact |
PDO Mapping TxPDO 2 |
UINT8 |
RW |
0x08 (8dec) |
1A01:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x02) |
UINT32 |
RW |
0x10F4:02, 2 |
1A01:02 |
SubIndex 002 |
2. PDO Mapping entry (6 bits align) |
UINT32 |
RW |
0x0000:00, 6 |
1A01:03 |
SubIndex 003 |
3. PDO Mapping entry (3 bits align) |
UINT32 |
RW |
0x0000:00, 3 |
1A01:04 |
SubIndex 004 |
4. PDO Mapping entry (object 0x1800, entry 0x09) |
UINT32 |
RW |
0x1800:09, 1 |
1A01:05 |
SubIndex 005 |
5. PDO Mapping entry (object 0x1800, entry 0x07) |
UINT32 |
RW |
0x1800:07, 1 |
1A01:06 |
SubIndex 006 |
6. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x0E (Control value update toggle)) |
UINT32 |
RW |
0x10F4:0E, 1 |
1A01:07 |
SubIndex 007 |
7. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x0F (Time stamp update toggle)) |
UINT32 |
RW |
0x10F4:0F, 1 |
1A01:08 |
SubIndex 008 |
8. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x10 (External device not connected)) |
UINT32 |
RW |
0x10F4:10, 1 |
Index 1A02 TxPDO-Map External Sync
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A02:0 |
TxPDO-Map External Sync |
PDO Mapping TxPDO 3 |
UINT8 |
RW |
0x0B (11dec) |
1A02:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x02) |
UINT32 |
RW |
0x10F4:02, 2 |
1A02:02 |
SubIndex 002 |
2. PDO Mapping entry (6 bits align) |
UINT32 |
RW |
0x0000:00, 6 |
1A02:03 |
SubIndex 003 |
3. PDO Mapping entry (3 bits align) |
UINT32 |
RW |
0x0000:00, 3 |
1A02:04 |
SubIndex 004 |
4. PDO Mapping entry (object 0x1800, entry 0x09) |
UINT32 |
RW |
0x1800:09, 1 |
1A02:05 |
SubIndex 005 |
5. PDO Mapping entry (object 0x1800, entry 0x07) |
UINT32 |
RW |
0x1800:07, 1 |
1A02:06 |
SubIndex 006 |
6. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x0E (Control value update toggle)) |
UINT32 |
RW |
0x10F4:0E, 1 |
1A02:07 |
SubIndex 007 |
7. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x0F (Time stamp update toggle)) |
UINT32 |
RW |
0x10F4:0F, 1 |
1A02:08 |
SubIndex 008 |
8. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x10 (External device not connected)) |
UINT32 |
RW |
0x10F4:10, 1 |
1A02:09 |
SubIndex 009 |
9. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x11 (Internal time stamp)) |
UINT32 |
RW |
0x10F4:11, 64 |
1A02:0A |
SubIndex 010 |
10. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x12 (External time stamp)) |
UINT32 |
RW |
0x10F4:12, 64 |
1A02:0B |
SubIndex 011 |
11. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x13 (Control Value for DC Master Clock)) |
UINT32 |
RW |
0x10F4:13, 32 |
Index 1A03 TxPDO-Map External Sync (32 Bit)
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A03:0 |
TxPDO-Map External Sync (32 Bit) |
PDO Mapping TxPDO 4 |
UINT8 |
RW |
0x0B (11dec) |
1A03:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x02) |
UINT32 |
RW |
0x10F4:02, 2 |
1A03:02 |
SubIndex 002 |
2. PDO Mapping entry (6 bits align) |
UINT32 |
RW |
0x0000:00, 6 |
1A03:03 |
SubIndex 003 |
3. PDO Mapping entry (3 bits align) |
UINT32 |
RW |
0x0000:00, 3 |
1A03:04 |
SubIndex 004 |
4. PDO Mapping entry (object 0x1800, entry 0x09) |
UINT32 |
RW |
0x1800:09, 1 |
1A03:05 |
SubIndex 005 |
5. PDO Mapping entry (object 0x1800, entry 0x07) |
UINT32 |
RW |
0x1800:07, 1 |
1A03:06 |
SubIndex 006 |
6. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x0E (Control value update toggle)) |
UINT32 |
RW |
0x10F4:0E, 1 |
1A03:07 |
SubIndex 007 |
7. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x0F (Time stamp update toggle)) |
UINT32 |
RW |
0x10F4:0F, 1 |
1A03:08 |
SubIndex 008 |
8. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x10 (External device not connected)) |
UINT32 |
RW |
0x10F4:10, 1 |
1A03:09 |
SubIndex 009 |
9. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x11 (Internal time stamp)) |
UINT32 |
RW |
0x10F4:11, 32 |
1A03:0A |
SubIndex 010 |
10. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x12 (External time stamp)) |
UINT32 |
RW |
0x10F4:12, 32 |
1A03:0B |
SubIndex 011 |
11. PDO Mapping entry (object 0x10F4 (External synchronization status), entry 0x13 (Control Value for DC Master Clock)) |
UINT32 |
RW |
0x10F4:13, 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) |
1C12:01 |
SubIndex 001 |
1. allocated RxPDO (contains the index of the associated RxPDO mapping object) |
UINT16 |
RW |
0x0000 (0dec) |
Index 1C13 TxPDO assign
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1C13:0 |
TxPDO assign |
PDO Assign Inputs |
UINT8 |
RW |
0x01 (1dec) |
1C13:01 |
SubIndex 001 |
1. allocated TxPDO (contains the index of the associated TxPDO mapping object) |
UINT16 |
RW |
0x1A01 (6657dec) |
1C13:02 |
SubIndex 002 |
2. allocated TxPDO (contains the index of the associated TxPDO mapping object) |
UINT16 |
RW |
0x0000 (0dec) |
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:
|
UINT16 |
RW |
0x0000 (0dec) |
1C32:02 |
Cycle time |
Cycle time (in ns):
|
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:
|
UINT16 |
RO |
0xC007 (49159dec) |
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 |
The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values. |
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 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 |
0x0000 (0dec) |
1C33:02 |
Cycle time |
as 0x1C32:02 |
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:
|
UINT16 |
RO |
0xC007 (49159dec) |
1C33:05 |
Minimum cycle time |
as 0x1C32:05 |
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 |
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 |
RO |
0x00000000 (0dec) |
1C33:0B |
SM event missed counter |
as 0x1C32:11 |
UINT16 |
RO |
0x0000 (0dec) |
1C33:0C |
Cycle exceeded counter |
as 0x1C32:12 |
UINT16 |
RO |
0x0000 (0dec) |
1C33:0D |
Shift too short counter |
as 0x1C32:13 |
UINT16 |
RO |
0x0000 (0dec) |
1C33:20 |
Sync error |
as 0x1C32:32 |
BOOLEAN |
RO |
0x00 (0dec) |