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

0x00000192 (402dec)

Index 1001 Error register

Index (hex)

Name

Meaning

Data type

Flags

Default

1001:0

Error register

 

UINT8

RO

0x00 (0dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL72x1-x01x

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 des EtherCAT-Slaves

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

0x1C213052 (471937106dec)

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 1600 DS402 RxPDO-Map Controlword

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

DS402 RxPDO-Map Controlword

PDO Mapping RxPDO 1

UINT8

RO

0x01 (1dec)

1600:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x6040:00, 16

Index 1601 DS402 RxPDO-Map Target velocity

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

DS402 RxPDO-Map Target velocity

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1dec)

1601:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60FF:00, 32

Index 1602 DS402 RxPDO-Map Target torque

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

DS402 RxPDO-Map Target torque

PDO Mapping RxPDO 3

UINT8

RO

0x01 (1dec)

1602:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x6071:00, 16

Index 1603 DS402 RxPDO-Map Commutation angle

Index (hex)

Name

Meaning

Data type

Flags

Default

1603:0

DS402 RxPDO-Map Commutation angle

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1dec)

1603:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60EA:00, 16

Index 1604 DS402 RxPDO-Map Torque limitation

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

DS402 RxPDO-Map Torque limitation

PDO Mapping RxPDO 5

UINT8

RO

0x01 (1dec)

1604:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x6072:00, 16

Index 1605 DS402 RxPDO-Map Torque offset

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

DS402 RxPDO-Map Torque offset

PDO Mapping RxPDO 6

UINT8

RO

0x01 (1dec)

1605:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x2001:11, 16

Index 1606 DS402 RxPDO-Map Target position

Index (hex)

Name

Meaning

Data type

Flags

Default

1606:0

DS402 RxPDO-Map Target position

PDO Mapping RxPDO 7

UINT8

RO

0x01 (1dec)

1606:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x607A:00, 32

Index 1607 DS402 RxPDO-Map Touch probe function

Index (hex)

Name

Meaning

Data type

Flags

Default

1607:0

DS402 RxPDO-Map Touch probe function

PDO Mapping RxPDO 8

UINT8

RO

0x01 (1dec)

1607:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60B8:00, 16

Index 1608 DS402 RxPDO-Map Modes of operation

Index (hex)

Name

Meaning

Data type

Flags

Default

1608:0

DS402 RxPDO-Map Modes of operation

PDO Mapping RxPDO 9

UINT8

RO

0x01 (1dec)

1608:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x6060:00, 8

Index 1A00 DS402 TxPDO-Map Statusword

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

DS402 TxPDO-Map Statusword

PDO Mapping TxPDO 1

UINT8

RO

0x01 (1dec)

1A00:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x6041:00, 16

Index 1A01 DS402 TxPDO-Map Position actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

DS402 TxPDO-Map Position actual value

PDO Mapping TxPDO 2

UINT8

RO

0x01 (1dec)

1A01:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x6064:00, 32

Index 1A02 DS402 TxPDO-Map Velocity actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

DS402 TxPDO-Map Velocity actual value

PDO Mapping TxPDO 3

UINT8

RO

0x01 (1dec)

1A02:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x606C:00, 32

Index 1A03 DS402 TxPDO-Map Torque actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

DS402 TxPDO-Map Torque actual value

PDO Mapping TxPDO 4

UINT8

RO

0x01 (1dec)

1A03:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x6077:00, 16

Index 1A04 DS402 TxPDO-Map Following error actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

DS402 TxPDO-Map Following error actual value

PDO Mapping TxPDO 5

UINT8

RO

0x01 (1dec)

1A04:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60F4:00, 32

Index 1A05 DS402 TxPDO-Map Touch probe status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

DS402 TxPDO-Map Touch probe status

PDO Mapping TxPDO 6

UINT8

RO

0x01 (1dec)

1A05:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60B9:00, 16

Index 1A06 DS402 TxPDO-Map Touch probe 1 positive edge

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

DS402 TxPDO-Map Touch probe 1 positive edge

PDO Mapping TxPDO 7

UINT8

RO

0x01 (1dec)

1A06:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60BA:00, 32

Index 1A07 DS402 TxPDO-Map Touch probe 1 negative edge

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

DS402 TxPDO-Map Touch probe 1 negative edge

PDO Mapping TxPDO 8

UINT8

RO

0x01 (1dec)

1A07:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60BB:00, 32

Index 1A08 DS402 TxPDO-Map Touch probe 2 positive edge

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

DS402 TxPDO-Map Touch probe 2 positive edge

PDO Mapping TxPDO 9

UINT8

RO

0x01 (1dec)

1A08:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60BC:00, 32

Index 1A09 DS402 TxPDO-Map Touch probe 2 negative edge

Index (hex)

Name

Meaning

Data type

Flags

Default

1A09:0

DS402 TxPDO-Map Touch probe 2 negative edge

PDO Mapping TxPDO 10

UINT8

RO

0x01 (1dec)

1A09:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60BD:00, 32

Index 1A0A DS402 TxPDO-Map Data invalid

Index

Name

Meaning

Data type

Flags

Default

1A0A:0

DS402 TxPDO-Map Data invalid

PDO Mapping TxPDO 11

UINT8

RO

0x03 (3dec)

1A0A:01

SubIndex 001

1. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A0A:02

SubIndex 002

2. PDO Mapping entry (object 0x603E (Data invalid), entry 0x02 (Position actual value))

UINT32

RO

0x603E:02, 1

1A0A:03

SubIndex 003

3. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

Index 1A0B DS402 TxPDO-Map Info data 1

Index

Name

Meaning

Data type

Flags

Default

1A0B:0

DS402 TxPDO-Map Info data 1

PDO Mapping TxPDO 12

UINT8

RO

0x01 (1dec)

1A0B:01

SubIndex 001

1st PDO Mapping entry (object 0x2008 (inputs), entry 0x01 (Info data 1))

UINT32

RO

0x2008:01, 16

Index 1A0C DS402 TxPDO-Map Info data 2

Index

Name

Meaning

Data type

Flags

Default

1A0C:0

DS402 TxPDO-Map Info data 2

PDO Mapping TxPDO 13

UINT8

RO

0x01 (1dec)

1A0C:01

SubIndex 001

1st PDO Mapping entry (object 0x2008 (inputs), entry 0x02 (Info data 2))

UINT32

RO

0x2008:02, 16

Index 1A0E DS402 TxPDO-Map Modes of operation display

Index

Name

Meaning

Data type

Flags

Default

1A0E:0

DS402 TxPDO-Map Modes of operation display

PDO Mapping TxPDO 14

UINT8

RO

0x01 (1dec)

1A0E:01

SubIndex 001

1. PDO Mapping entry (object 0x6061 (Modes of operation display))

UINT32

RO

0x6061:00, 8

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

0x02 (2dec)

1C12:01

Subindex 001

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

UINT16

RW

0x1600 (5632dec)

1C12:02

Subindex 002

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

UINT16

RW

0x1601 (5633dec)

1C12:03

Subindex 003

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

UINT16

RW

0x0000 (0dec)

1C12:04

Subindex 004

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

UINT16

RW

0x0000 (0dec)

1C12:05

Subindex 005

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

UINT16

RW

0x0000 (0dec)

1C12:06

Subindex 006

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

UINT16

RW

0x0000 (0dec)

1C12:07

Subindex 007

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

UINT16

RW

0x0000 (0dec)

1C12:08

Subindex 008

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

UINT16

RW

0x0000 (0dec)

Index 1C13 TxPDO assign

Index

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)

1C13:03

Subindex 003

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

UINT16

RW

0x0000 (0dec)

1C13:04

Subindex 004

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

UINT16

RW

0x0000 (0dec)

1C13:05

Subindex 005

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

UINT16

RW

0x0000 (0dec)

1C13:06

Subindex 006

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

UINT16

RW

0x0000 (0dec)

1C13:07

Subindex 007

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

UINT16

RW

0x0000 (0dec)

1C13:08

Subindex 008

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

UINT16

RW

0x0000 (0dec)

1C13:09

Subindex 009

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

UINT16

RW

0x0000 (0dec)

1C13:0A

Subindex 010

10. 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:

  • 3: DC-Mode - Synchronous with SYNC1 event

UINT16

RW

0x0000 (0dec)

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

0x0003D090 (250000dec)

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

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

0x4808 (18440dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0001E848 (125000dec)

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

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, 0x1C33:03, 0x1C33:06, and 0x1C33:09 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 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:

  • 3: DC - Synchronous with SYNC1 Event

UINT16

RW

0x0000 (0dec)

1C33:02

Cycle time

as 0x1C32:02 

UINT32

RW

0x0003D090 (250000dec)

1C33:03

Shift time

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

UINT32

RO

0x00001C52 (7250dec)

1C33:04

Sync modes supported

Supported synchronization modes:

  • Bit 0: free run is supported
  • Bit 1: synchronous with SM 2 event is supported (outputs available)
  • Bit 1: synchronous 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 0x1C32:08 or 0x1C33:08)

UINT16

RO

0x4808 (18440dec)

1C33:05

Minimum cycle time

as 0x1C32:05 

UINT32

RO

0x0001E848 (125000dec)

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

0x00001C52 (7250dec)

1C33:08

Command

as 0x1C32:08

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

0x00001C52 (7250dec)

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)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

see note!

UINT32

RW

0x00000000 (0dec)