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 | EP1518-0002 |
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 | 01.03 |
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 | 0x05EE4052 (99500114dec) |
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 | 0x00100002 (1048578dec) |
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 CNT RxPDO-Map Outputs Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1600:0 | CNT RxPDO-Map Outputs Ch.1 | PDO Mapping RxPDO 1 | UINT8 | RO | 0x05 (5dec) |
1600:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7040 (DO Outputs), entry 0x01 (Output 0)) | UINT32 | RO | 0x0000:00, 2 |
1600:02 | SubIndex 002 | 2. PDO Mapping entry (15 bits align) | UINT32 | RO | 0x7000:03, 1 |
1600:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7010 (CNT Outputs), entry 0x03 (Set counter)) | UINT32 | RO | 0x7000:04, 1 |
1600:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7010 (CNT Outputs), entry 0x04 (Inhibit counter)) | UINT32 | RO | 0x0000:00, 12 |
1600:05 | SubIndex 005 | 5. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x7000:11, 32 |
Index 1601 CNT RxPDO-Map OutputsCh.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1601:0 | CNT RxPDO-Map Outputs Ch.2 | PDO Mapping RxPDO 2 | UINT8 | RO | 0x05 (5dec) |
1601:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7020 (CNT Outputs), entry 0x01 (Enable output functions)) | UINT32 | RO | 0x0000:00, 2 |
1601:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7020 (CNT Outputs), entry 0x02 (Set output)) | UINT32 | RO | 0x7010:03, 1 |
1601:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7020 (CNT Outputs), entry 0x03 (Set counter)) | UINT32 | RO | 0x7010:04, 1 |
1601:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7020 (CNT Outputs), entry 0x04 (Inhibit counter)) | UINT32 | RO | 0x0000:00, 12 |
1601:05 | SubIndex 005 | 5. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x7010:11, 32 |
Index 1A00 CNT TxPDO-Map InputsCh.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A00:0 | CNT TxPDO-Map InputsCh.1 | PDO Mapping TxPDO 1 | UINT8 | RO | 0x0A (10dec) |
1A00:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x01 (Input 0)) | UINT32 | RO | 0x0000:00, 2 |
1A00:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x02 (Input 1)) | UINT32 | RO | 0x6000:03, 1 |
1A00:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x03 (Input 2)) | UINT32 | RO | 0x6000:04, 1 |
1A00:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x04 (Input 3)) | UINT32 | RO | 0x6000:05, 1 |
1A00:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x05 (Input 4)) | UINT32 | RO | 0x6000:06, 1 |
1A00:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x06 (Input 5)) | UINT32 | RO | 0x0000:00, 7 |
1A00:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x06 (Input 6)) | UINT32 | RO | 0x6000:0E, 1 |
1A00:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x08 (Input 7)) | UINT32 | RO | 0x6000:0F, 1 |
1A00:09 | SubIndex 009 | 9. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x6000:10, 1 |
1A00:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x6000 (CNT Inputs), entry 0x11 (Counter value)) | UINT32 | RO | 0x6000:11, 32 |
Index 1A01 CNT TxPDO-Map InputsCh.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A01:0 | CNT TxPDO-Map Inputs Ch.2 | PDO Mapping TxPDO 2 | UINT8 | RO | 0x0A (10dec) |
1A01:01 | SubIndex 001 | 1. PDO Mapping entry (15 bits align) | UINT32 | RO | 0x0000:00, 2 |
1A01:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6010:03, 1 |
1A01:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x11 (Counter value)) | UINT32 | RO | 0x6010:04, 1 |
1A01:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x04 (Counter inhibited)) | UINT32 | RO | 0x6010:05, 1 |
1A01:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x05 (Status of input UD)) | UINT32 | RO | 0x6010:06, 1 |
1A01:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x06 (Status of input clock)) | UINT32 | RO | 0x0000:00, 7 |
1A01:07 | SubIndex 007 | 7. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x6010:0E, 1 |
1A01:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x0F (TxPDO State)) | UINT32 | RO | 0x6010:0F, 1 |
1A01:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6010:10, 1 |
1A01:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x6010 (CNT Inputs), entry 0x11 (Counter value)) | UINT32 | RO | 0x6010:11, 32 |
Index 1A02 DIG TxPDO-Map Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A02:0 | DIG TxPDO-Map Inputs | PDO Mapping TxPDO 3 | UINT8 | RO | 0x09 (9dec) |
1A02:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x6020:01, 1 |
1A02:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6030 (ENC Inputs), entry 0x03 (Set counter done)) | UINT32 | RO | 0x6020:02, 1 |
1A02:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6030 (ENC Inputs), entry 0x04 (Counter underflow)) | UINT32 | RO | 0x6020:03, 1 |
1A02:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6030 (ENC Inputs), entry 0x05 (Counter overflow)) | UINT32 | RO | 0x6020:04, 1 |
1A02:05 | SubIndex 005 | 5. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x6020:05, 1 |
1A02:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6030 (ENC Inputs), entry 0x09 (Status of input A)) | UINT32 | RO | 0x6020:06, 1 |
1A02:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6030 (ENC Inputs), entry 0x0A (Status of input B)) | UINT32 | RO | 0x6020:07, 1 |
1A02:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6030 (ENC Inputs), entry 0x0B (Status of input C)) | UINT32 | RO | 0x6020:08, 1 |
1A02:09 | SubIndex 009 | 9. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 8 |
Index 1A03 DIG TxPDO-Map Inputs Device
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A03:0 | DIG TxPDO-Map Inputs Device | PDO Mapping TxPDO 4 | UINT8 | RO | 0x07 (7dec) |
1A03:01 | SubIndex 001 | 1. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A03:02 | SubIndex 002 | 2. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x02 (Error channel 1)) | UINT32 | RO | 0xF600:02, 1 |
1A03:03 | SubIndex 003 | 3. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x03 (Error channel 2)) | UINT32 | RO | 0xF600:03, 1 |
1A03:04 | SubIndex 004 | 4. PDO Mapping entry (10 bits align) | UINT32 | RO | 0x0000:00, 10 |
1A03:05 | SubIndex 005 | 5. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x0E (Sync error)) | UINT32 | RO | 0xF600:0E, 1 |
1A03:06 | SubIndex 006 | 6. PDO Mapping entry (1 bits align) | UINT32 | RO | 0xF600:0F, 1 |
1A03:07 | SubIndex 007 | 7. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0xF600:10, 1 |
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) |
Index 1C13 TxPDO assign
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C13:0 | TxPDO assign | PDO Assign Inputs | UINT8 | RW | 0x04 (4dec) |
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 | 0x1A02 (6658dec) |
1C13:04 | Subindex 004 | 4. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x1A03 (6659dec) |
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 |
| UINT16 | RW | 0x0001 (1dec) |
1C32:02 | Cycle time | Cycle time (in ns):
| UINT32 | RW | 0x000F4240 (1000000dec) |
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:
| UINT16 | RO | 0xC007 (49159dec) |
1C32:05 | Minimum cycle time | Minimum cycle time (in ns) | UINT32 | RO | 0x0003D090 (250000dec) |
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 | Minimum time between SYNC1 event and output of the outputs (in ns, DC mode only) | UINT32 | RO | 0x00000000 (0dec) |
1C32:08 | Command |
The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:07, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:07 and 0x1C33:09 are updated with the maximum measured values. | UINT16 | RW | 0x0000 (0dec) |
1C32:09 | Maximum delay time | Minimum 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 | 0x0022 (34dec) |
1C33:02 | Cycle time | as 0x1C32:02 | 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 | 0xC007 (49159dec) |
1C33:05 | Minimum cycle time | as 0x1C32:05 | UINT32 | RO | 0x0003D090 (250000dec) |
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 | as 0x1C32:07 | UINT32 | RO | 0x00000000 (0dec) |
1C33:08 | Command | as 0x1C32:08 | UINT16 | RW | 0x0000 (0dec) |
1C33:09 | Maximum delay time | as 0x1C32:09 | 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) |