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 low word contains the CoE profile used (5001). The high 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

EP1816-3008

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version des EtherCAT slaves

STRING

RO

 

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slaves

STRING

RO

03

Index 1011 Restore default parameters

Index (hex)

Name

Meaning

Data type

Flags

Default

1011:0

Restore default parameters

 

UINT8

RO

0x01 (1dec)

1011:01

SubIndex 001

 

UINT32

RW

0x00000000 (0dec)

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

0x05E44052 (98844754dec)

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 10F0 Backup parameter handling

Index (hex)

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter handling

 

UINT8

RO

0x01 (1dec)

10F0:01

Checksum

 

UINT32

RO

0x00000000 (0dec)

Index 1A00 DIG TxPDO-Map Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

DIG TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x09 (9dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DIG Inputs Ch.1), entry 0x01 (Input 1))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DIG Inputs Ch.1), entry 0x02 (Input 2))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (DIG Inputs Ch.1), entry 0x03 (Input 3))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (DIG Inputs Ch.1), entry 0x04 (Input 4))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (DIG Inputs Ch.1), entry 0x05 (Input 5))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (DIG Inputs Ch.1), entry 0x06 (Input 6))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (DIG Inputs Ch.1), entry 0x07 (Input 7))

UINT32

RO

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (DIG Inputs Ch.1), entry 0x08 (Input 8))

UINT32

RO

0x6000:08, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 8

Index 1A01 DIG TxPDO-Map Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

DIG TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 2

UINT8

RO

0x09 (9dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DIG Inputs Ch.2), entry 0x01 (Input 1))

UINT32

RO

0x6010:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DIG Inputs Ch.2), entry 0x02 (Input 2))

UINT32

RO

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (DIG Inputs Ch.2), entry 0x03 (Input 3))

UINT32

RO

0x6010:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (DIG Inputs Ch.2), entry 0x04 (Input 4))

UINT32

RO

0x6010:04, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (DIG Inputs Ch.2), entry 0x05 (Input 5))

UINT32

RO

0x6010:05, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (DIG Inputs Ch.2), entry 0x06 (Input 6))

UINT32

RO

0x6010:06, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (DIG Inputs Ch.2), entry 0x07 (Input 7))

UINT32

RO

0x6010:07, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (DIG Inputs Ch.2), entry 0x08 (Input 8))

UINT32

RO

0x6010:08, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 8

Index 1A02 AI TxPDO-Map Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

AI TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 3

UINT8

RO

0x05 (5dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 6

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x1C33 (SM input parameter), entry 0x20 (Sync error))

UINT32

RO

0x6020:07, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 8

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6020:10, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (AI Inputs Ch.1), entry 0x11 (Value))

UINT32

RO

0x6020:11, 16

Index 1A03 AI TxPDO-Map Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

AI TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 4

UINT8

RO

0x05 (5dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 6

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x1C33 (SM input parameter), entry 0x20 (Sync error))

UINT32

RO

0x6030:07, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 8

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6030:10, 1

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (AI Inputs Ch.2), entry 0x11 (Value))

UINT32

RO

0x6030:11, 16

Index 1A04 AI TxPDO-Map Inputs Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

AI TxPDO-Map Inputs Ch.3

PDO Mapping TxPDO 5

UINT8

RO

0x05 (5dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 6

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x1C33 (SM input parameter), entry 0x20 (Sync error))

UINT32

RO

0x6040:07, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 8

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6040:10, 1

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6040 (AI Inputs Ch.3), entry 0x11 (Value))

UINT32

RO

0x6040:11, 16

Index 1A05 AI TxPDO-Map Inputs Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

AI TxPDO-Map Inputs Ch.4

PDO Mapping TxPDO 6

UINT8

RO

0x05 (5dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 6

1A05:02

SubIndex 002

2. PDO Mapping entry (object 0x1C33 (SM input parameter), entry 0x20 (Sync error))

UINT32

RO

0x6050:07, 1

1A05:03

SubIndex 003

3. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 8

1A05:04

SubIndex 004

4. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6050:10, 1

1A05:05

SubIndex 005

5. PDO Mapping entry (object 0x6050 (AI Inputs Ch.4), entry 0x11 (Value))

UINT32

RO

0x6050:11, 16

Index 1A06 AI TxPDO-Map Inputs Ch.5

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

AI TxPDO-Map Inputs Ch.5

PDO Mapping TxPDO 7

UINT8

RO

0x05 (5dec)

1A06:01

SubIndex 001

1. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 6

1A06:02

SubIndex 002

2. PDO Mapping entry (object 0x1C33 (SM input parameter), entry 0x20 (Sync error))

UINT32

RO

0x6060:07, 1

1A06:03

SubIndex 003

3. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 8

1A06:04

SubIndex 004

4. PDO Mapping entry (object 0x6060 (AI Inputs Ch.5), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6060:10, 1

1A06:05

SubIndex 005

5. PDO Mapping entry (object 0x6060 (AI Inputs Ch.5), entry 0x11 (Value))

UINT32

RO

0x6060:11, 16

Index 1A07 AI TxPDO-Map Inputs Ch.6

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

AI TxPDO-Map Inputs Ch.6

PDO Mapping TxPDO 8

UINT8

RO

0x05 (5dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 6

1A07:02

SubIndex 002

2. PDO Mapping entry (object 0x1C33 (SM input parameter), entry 0x20 (Sync error))

UINT32

RO

0x6070:07, 1

1A07:03

SubIndex 003

3. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 8

1A07:04

SubIndex 004

4. PDO Mapping entry (object 0x6070 (AI Inputs Ch.6), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6070:10, 1

1A07:05

SubIndex 005

5. PDO Mapping entry (object 0x6070 (AI Inputs Ch.6), entry 0x11 (Value))

UINT32

RO

0x6070:11, 16

Index 1A08 DIG TxPDO-Map Inputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

DIG TxPDO-Map Inputs Device

PDO Mapping TxPDO 9

UINT8

RO

0x04 (4dec)

1A08:01

SubIndex 001

1. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x01 (Us Undervoltage))

UINT32

RO

0xF600:01, 1

1A08:02

SubIndex 002

2. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x02 (Up Undervoltage))

UINT32

RO

0xF600:02, 1

1A08:03

SubIndex 003

3. PDO Mapping entry (11 bits align)

UINT32

RO

0x0000:00, 13

1A08:04

SubIndex 004

4. PDO Mapping entry (object 0xF600 (DIG Inputs), entry 0x0E (Sync error))

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

RO

0x00 (0dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RO

0x09 (9dec)

1C13:01

Subindex 001

Allocated TxPDO no. 1 (contains the index of the associated TxPDO mapping object)

UINT16

RO

0x1A00 (6656dec)

1C13:02

Subindex 002

Allocated TxPDO no. 2 (contains the index of the associated TxPDO mapping object)

UINT16

RO

0x1A01 (6657dec)

1C13:03

Subindex 003

Allocated TxPDO no. 3 (contains the index of the associated TxPDO mapping object)

UINT16

RO

0x1A02 (6658dec)

1C13:04

Subindex 004

Allocated TxPDO no. 4 (contains the index of the associated TxPDO mapping object)

UINT16

RO

0x1A03 (6659dec)

1C13:05

Subindex 005

Allocated TxPDO no. 5 (contains the index of the associated TxPDO mapping object)

UINT16

RO

0x1A04 (6660dec)

1C13:06

Subindex 006

Allocated TxPDO no. 6 (contains the index of the associated TxPDO mapping object)

UINT16

RO

0x1A05 (6661dec)

1C13:07

Subindex 007

Allocated TxPDO no. 7 (contains the index of the associated TxPDO mapping object)

UINT16

RO

0x1A06 (6662dec)

1C13:08

Subindex 008

Allocated TxPDO no. 8 (contains the index of the associated TxPDO mapping object)

UINT16

RO

0x1A07 (6663dec)

1C13:09

Subindex 009

Allocated TxPDO no. 9 (contains the index of the associated TxPDO mapping object)

UINT16

RO

0x1A08 (6664dec)

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:

  • 0: Free Run
  • 1: Synchronous with SM 3 Event (no outputs available)
  • 2: DC – synchronous with SYNC0 Event
  • 3: DC – synchronous with SYNC1 Event
  • 34: Synchronous with SM 2 Event (outputs available)

UINT16

RW

0x0022 (34dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

0x003D0900 (4000000dec)

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

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

0xC007 (49159dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x00030D40 (200000dec)

1C33:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

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, DC mode only)

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)