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

0x145A1389 (341447561dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL6752-0010

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware-Version des EtherCAT-Slaves

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

00

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

0x1A603052 (442511442dec)

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

0x00000000 (0dec)

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 10E2 Manufacturer-specific Identification Code

Index (hex)

Name

Meaning

Data type

Flags

Default

10E2:0

Manufacturer-specific Identification Code

Manufacturer-specific Identification Code

UINT8

RO

0x01 (1dec)

10E2:01

SubIndex 001

reserved

STRING

RO

 

Index 1A10 DNM TxPDO-Map DeviceNet State

Index (hex)

Name

Meaning

Data type

Flags

Default

1A10:0

DNM TxPDO-Map DeviceNet State

PDO Mapping TxPDO 17

UINT8

RO

0x06 (6dec)

1A10:01

SubIndex 001

1. PDO Mapping entry (object 0xA000 (Status Data Slave), entry 0x01)

UINT32

RO

0xA000:01, 8

1A10:02

SubIndex 002

2. PDO Mapping entry (object 0xF100 (DeviceNet status), entry 0x01 (Communication status))

UINT32

RO

0xF100:01, 8

1A10:03

SubIndex 003

3. PDO Mapping entry (object 0xF100 (DeviceNet status), entry 0x10 (TxPdoState))

UINT32

RO

0xF100:10, 1

1A10:04

SubIndex 004

4. PDO Mapping entry (object 0xF103 (Diag data), entry 0x01)

UINT32

RO

0xF103:01, 1

1A10:05

SubIndex 005

5. PDO Mapping entry (object 0xF600 (BitStrobe Bits), entry 0x01)

UINT32

RO

0xF600:01, 1

1A10:06

SubIndex 006

6. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 13

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

0x02 (2dec)

1C13:01

SubIndex 001

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

UINT16

RW

0x1A10 (6672dec)

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 sync 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

0x0000 (0dec)

1C32:02

Cycle time

Cycle time (in ns):

  • Free Run: cycle time of the local timer
  • Synchron with SM 2 Event: cycle time of the master

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

RO

0x00000000 (0dec)

1C32:04

Sync modes supported

Sync modes supported:

  • Bit 0 = 1: Free Run is supported
  • Bit 1 = 1: Synchron with SM 2 Event is supported
  • Bit 2-3 = 01: DC-Mode is supported
  • Bit 4-5 = 10: Output Shift with SYNC1 Event (DC Mode only)

Bit 14 = 1: dynamic times (measurement through writing of 1C32:08)

UINT16

RO

0x4001 (16385dec)

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)

1C32:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C32:08

Get Cycle Time

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

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0dec)

1C32:09

Maximum 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 intervals between SYNC0 and SYNC1 events that are 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 sync 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

0x0000 (0dec)

1C33:02

Cycle time

as 1C32:02

UINT32

RW

0x00000000 (0dec)

1C33:03

Shift time

Time between SYNC0 event and reading of the inputs (in ns, DC Mode only)

UINT32

RO

0x00000000 (0dec)

1C33:04

Sync modes supported

Sync modes supported:

  • 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 1C32:08 or 1C33:08)

UINT16

RO

0x4001 (16385dec)

1C33:05

Minimum cycle time

as 1C32:05

UINT32

RO

0x00000000 (0dec)

1C33:06

Calc and copy time

Time between reading of the inputs and the inputs being available for the master (in ns, DC Mode only)

UINT32

RO

0x00000000 (0dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C33:08

Get Cycle Time

as 1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

Maximum delay time

Time between SYNC1 event and reading of the inputs (in ns, DC Mode only)

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

as 1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 1C32:32

BOOLEAN

RO

0x00 (0dec)