Object description and parameterization

	Parameterization The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (assignment of PDOs).

	EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. It is strongly recommended to download the latest revision of the corresponding XML file from the Beckhoff website (http://www.beckhoff.com/english/default.htm?download/elconfg.htm) and follow the installation instructions.

Introduction

The CoE overview contains objects for different intended applications:

Objects required for parameterization during commissioning
Objects intended for regular operation, e.g. through ADS access
Objects for indicating internal settings (may be fixed)
Further profile-specific objects indicating inputs, outputs and status information

The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.

Objects to be parameterized during commissioning

Index 1011 Restore default parameters

Index	Name	Meaning	Data type	Flags	Default
1011:0	Restore default parameters	Restore default settings	UINT8	RO	0x01 (1_dec)
1011:01	SubIndex 001	If this object is set to "0x64616F6C" in the Set Value Dialog, all backup objects are reset to their delivery state.	UINT32	RW	0x00000000 (0_dec)

Index 8000 DIG Safe state active Ch.1

The outputs for which the DIG Safe state active bit is set are switched to the values specified in Safe state value in the event that the Operational (OP) status is left.
Status Operational (OP) is left if communication to the master is interrupted, for example at power breakdown at the master or cable breakage.

Index	Name	Meaning	Data type	Flags	Default
8000:0	DIG Safe state active		UINT8	RO	0x08 (8_dec)
8000:01	Output 1	0_bin: DIG Safe state for output 1 is switched off 1_bin: DIG Safe state for output 1 is switched on	boolean	RW	1_bin
8000:02	Output 2	0_bin: DIG Safe state for output 2 is switched off 1_bin: DIG Safe state for output 2 is switched on	boolean	RW	1_bin
8000:03	Output 3	0_bin: DIG Safe state for output 3 is switched off 1_bin: DIG Safe state for output 3 is switched on	boolean	RW	1_bin
8000:04	Output 4	0_bin: DIG Safe state for output 4 is switched off 1_bin: DIG Safe state for output 4 is switched on	boolean	RW	1_bin
8000:05	Output 5	0_bin: DIG Safe state for output 5 is switched off 1_bin: DIG Safe state for output 5 is switched on	boolean	RW	1_bin
8000:06	Output 6	0_bin: DIG Safe state for output 6 is switched off 1_bin: DIG Safe state for output 6 is switched on	boolean	RW	1_bin
8000:07	Output 7	0_bin: DIG Safe state for output 7 is switched off 1_bin: DIG Safe state for output 7 is switched on	boolean	RW	1_bin
8000:08	Output 8	0_bin: DIG Safe state for output 8 is switched off 1_bin: DIG Safe state for output 8 is switched on	boolean	RW	1_bin

Index 8001 DIG Safe state value Ch.1

The values to which the outputs are switched when the status Operational (OP) is left are specified here.

Index	Name	Meaning	Data type	Flags	Default
8001:0	DIG Safe state value		UINT8	RO	0x08 (8_dec)
8001:01	Output 1	0_bin: DIG Safe state value for output 1 = 0 1_bin: DIG Safe state value for output 1 = 1	boolean	RW	0x00 (0_dec)
8001:02	Output 2	0_bin: DIG Safe state value for output 2 = 0 1_bin: DIG Safe state value for output 2 = 1	boolean	RW	0x00 (0_dec)
8001:03	Output 3	0_bin: DIG Safe state value for output 3 = 0 1_bin: DIG Safe state value for output 3 = 1	boolean	RW	0x00 (0_dec)
8001:04	Output 4	0_bin: DIG Safe state value for output 4 = 0 1_bin: DIG Safe state value for output 4 = 1	boolean	RW	0x00 (0_dec)
8001:05	Output 5	0_bin: DIG Safe state value for output 5 = 0 1_bin: DIG Safe state value for output 5 = 1	boolean	RW	0x00 (0_dec)
8001:06	Output 6	0_bin: DIG Safe state value for output 6 = 0 1_bin: DIG Safe state value for output 6 = 1	boolean	RW	0x00 (0_dec)
8001:07	Output 7	0_bin: DIG Safe state value for output 7 = 0 1_bin: DIG Safe state value for output 7 = 1	boolean	RW	0x00 (0_dec)
8001:08	Output 8	0_bin: DIG Safe state value for output 8 = 0 1_bin: DIG Safe state value for output 8 = 1	boolean	RW	0x00 (0_dec)

Index 8010 DIG Safe state active Ch.2

Index	Name	Meaning	Data type	Flags	Default
8010:0	DIG Safe state active		UINT8	RO	0x08 (8_dec)
8010:01	Output 9	0_bin: DIG Safe state for output 9 is switched off 1_bin: DIG Safe state for output 9 is switched on	boolean	RW	1_bin
8010:02	Output 10	0_bin: DIG Safe state for output 10 is switched off 1_bin: DIG Safe state for output 10 is switched on	boolean	RW	1_bin
8010:03	Output 11	0_bin: DIG Safe state for output 11 is switched off 1_bin: DIG Safe state for output 11 is switched on	boolean	RW	1_bin
8010:04	Output 12	0_bin: DIG Safe state for output 12 is switched off 1_bin: DIG Safe state for output 12 is switched on	boolean	RW	1_bin
8010:05	Output 13	0_bin: DIG Safe state for output 13 is switched off 1_bin: DIG Safe state for output 13 is switched on	boolean	RW	1_bin
8010:06	Output 14	0_bin: DIG Safe state for output 14 is switched off 1_bin: DIG Safe state for output 14 is switched on	boolean	RW	1_bin
8010:07	Output 15	0_bin: DIG Safe state for output 15 is switched off 1_bin: DIG Safe state for output 15 is switched on	boolean	RW	1_bin
8010:08	Output 16	0_bin: DIG Safe state for output 16 is switched off 1_bin: DIG Safe state for output 16 is switched on	boolean	RW	1_bin

Index 8011 DIG Safe state value Ch.2

The values to which the outputs are switched when the status Operational (OP) is left are specified here.

Index	Name	Meaning	Data type	Flags	Default
8011:0	DIG Safe state value		UINT8	RO	0x08 (8_dec)
8011:01	Output 9	0_bin: DIG Safe state value for output 9 = 0 1_bin: DIG Safe state value for output 9 = 1	boolean	RW	0x00 (0_dec)
8011:02	Output 10	0_bin: DIG Safe state value for output 10 = 0 1_bin: DIG Safe state value for output 10 = 1	boolean	RW	0x00 (0_dec)
8011:03	Output 11	0_bin: DIG Safe state value for output 11 = 0 1_bin: DIG Safe state value for output 11 = 1	boolean	RW	0x00 (0_dec)
8011:04	Output 12	0_bin: DIG Safe state value for output 12 = 0 1_bin: DIG Safe state value for output 12 = 1	boolean	RW	0x00 (0_dec)
8011:05	Output 13	0_bin: DIG Safe state value for output 13 = 0 1_bin: DIG Safe state value for output 13 = 1	boolean	RW	0x00 (0_dec)
8011:06	Output 14	0_bin: DIG Safe state value for output 14 = 0 1_bin: DIG Safe state value for output 14 = 1	boolean	RW	0x00 (0_dec)
8011:07	Output 15	0_bin: DIG Safe state value for output 15 = 0 1_bin: DIG Safe state value for output 15 = 1	boolean	RW	0x00 (0_dec)
8011:08	Output 16	0_bin: DIG Safe state value for output 16 = 0 1_bin: DIG Safe state value for output 16 = 1	boolean	RW	0x00 (0_dec)

Objects for regular operation

The EP2xxx have no such objects.

Additional objects

Standard objects (0x1000-0x1FFF)

The standard objects have the same meaning for all EtherCAT slaves.

Index 1000 Device type

Index	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	0x01181389 (18355081_dec)

Index 1008 Device name

Index	Name	Meaning	Data type	Flags	Default
1008:0	Device name	Device name of the EtherCAT slave	string	RO	EP2816-0008

Index 1009 Hardware version

Index	Name	Meaning	Data type	Flags	Default
1009:0	Hardware version	Hardware version of the EtherCAT slave	string	RO	02

Index 100A Software Version

Index	Name	Meaning	Data type	Flags	Default
100A:0	Software version	Firmware version of the EtherCAT slave	string	RO	05

Index 1018 Identity

Index	Name	Meaning	Data type	Flags	Default
1018:0	Identity	Information for identifying the slave	UINT8	RO	0x04 (4_dec)
1018:01	Vendor ID	Vendor ID of the EtherCAT slave	UINT32	RO	0x00000002 (2_dec)
1018:02	Product code	Product code of the EtherCAT slave	UINT32	RO	0x0B004052 (184565842_dec)
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	0x00130008 (1245192_dec)
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 (0_dec)

Index 10F0 Backup parameter handling

Index	Name	Meaning	Data type	Flags	Default
10F0:0	Backup parameter handling	Information for standardized loading and saving of backup entries	UINT8	RO	0x01 (1_dec)
10F0:01	Checksum	Checksum across all backup entries of the EtherCAT slave	UINT32	RO	0x00000000 (0_dec)

Index 1600 DIG RxPDO-Map Outputs Ch.1

Index	Name	Meaning	Data type	Flags	Default
1600:0	DIG RxPDO-Map Outputs Ch.1	PDO Mapping RxPDO 1	UINT8	RO	0x09 (9_dec)
1600:01	SubIndex 001	1. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x01 (Output 1))	UINT32	RO	0x7000:01, 1
1600:02	SubIndex 002	2. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x02 (Output 2))	UINT32	RO	0x7000:02, 1
1600:03	SubIndex 003	3. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x03 (Output 3))	UINT32	RO	0x7000:03, 1
1600:04	SubIndex 004	4. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x04 (Output 4))	UINT32	RO	0x7000:04, 1
1600:05	SubIndex 005	5. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x05 (Output 5))	UINT32	RO	0x7000:05, 1
1600:06	SubIndex 006	6. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x06 (Output 6))	UINT32	RO	0x7000:06, 1
1600:07	SubIndex 007	7. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x07 (Output 7))	UINT32	RO	0x7000:07, 1
1600:08	SubIndex 008	8. PDO Mapping entry (object 0x7000 (DO Outputs Ch.1), entry 0x08 (Output 8))	UINT32	RO	0x7000:08, 1
1600:09	SubIndex 009	9. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8

Index 1601 DIG RxPDO-Map Outputs Ch.2

Index	Name	Meaning	Data type	Flags	Default
1601:0	DIG RxPDO-Map Outputs Ch.2	PDO Mapping RxPDO 2	UINT8	RO	0x09 (9_dec)
1601:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x01 (Output 1))	UINT32	RO	0x7010:01, 1
1601:02	SubIndex 002	2. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x02 (Output 2))	UINT32	RO	0x7010:02, 1
1601:03	SubIndex 003	3. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x03 (Output 3))	UINT32	RO	0x7010:03, 1
1601:04	SubIndex 004	4. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x04 (Output 4))	UINT32	RO	0x7010:04, 1
1601:05	SubIndex 005	5. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x05 (Output 5))	UINT32	RO	0x7010:05, 1
1601:06	SubIndex 006	6. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x06 (Output 6))	UINT32	RO	0x7010:06, 1
1601:07	SubIndex 007	7. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x07 (Output 7))	UINT32	RO	0x7010:07, 1
1601:08	SubIndex 008	8. PDO Mapping entry (object 0x7010 (DO Outputs Ch.2), entry 0x08 (Output 8))	UINT32	RO	0x7010:08, 1
1601:09	SubIndex 009	9. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8

Index 1602 DIG RxPDO-Map Outputs Device

Index	Name	Meaning	Data type	Flags	Default
1602:0	DIG RxPDO-Map Outputs Device	PDO Mapping RxPDO 3	UINT8	RO	0x03 (3_dec)
1602:01	SubIndex 001	1. PDO Mapping entry (object 0xF700 (DO Outputs), entry 0x01 (Set safe state))	UINT32	RO	0xF700:01, 1
1602:02	SubIndex 002	2. PDO Mapping entry (object 0xF700 (DO Outputs), entry 0x02 (Reset outputs))	UINT32	RO	0xF700:02, 1
1602:03	SubIndex 003	3. PDO Mapping entry (14 bits align)	UINT32	RO	0x0000:00, 14

Index 1A00 DIG TxPDO-Map Diag Inputs Ch.1

Index	Name	Meaning	Data type	Flags	Default
1A00:0	DIG TxPDO-Map Diag Inputs Ch.1	PDO Mapping TxPDO 1	UINT8	RO	0x09 (9_dec)
1A00:01	SubIndex 001	1. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1), entry 0x01 (Input 1))	UINT32	RO	0x6001:01, 1
1A00:02	SubIndex 002	2. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x02 (Input 2))	UINT32	RO	0x6001:02, 1
1A00:03	SubIndex 003	3. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x03 (Input 3))	UINT32	RO	0x6001:03, 1
1A00:04	SubIndex 004	4. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x04 (Input 4))	UINT32	RO	0x6001:04, 1
1A00:05	SubIndex 005	5. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x05 (Input 5))	UINT32	RO	0x6001:05, 1
1A00:06	SubIndex 006	6. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x06 (Input 6))	UINT32	RO	0x6001:06, 1
1A00:07	SubIndex 007	7. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x07 (Input 7))	UINT32	RO	0x6001:07, 1
1A00:08	SubIndex 008	8. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1), entry 0x08 (Input 8))	UINT32	RO	0x6001:08, 1
1A00:09	SubIndex 009	9. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 8

Index 1A01 DIG TxPDO-Map Diag Inputs Ch.2

Index	Name	Meaning	Data type	Flags	Default
1A01:0	DIG TxPDO-Map Diag Inputs Ch.2	PDO Mapping TxPDO 2	UINT8	RO	0x09 (9_dec)
1A01:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x01 (Input 1))	UINT32	RO	0x6011:01, 1
1A01:02	SubIndex 002	2. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x02 (Input 2))	UINT32	RO	0x6011:02, 1
1A01:03	SubIndex 003	3. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x03 (Input 3))	UINT32	RO	0x6011:03, 1
1A01:04	SubIndex 004	4. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x04 (Input 4))	UINT32	RO	0x6011:04, 1
1A01:05	SubIndex 005	5. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x05 (Input 5))	UINT32	RO	0x6011:05, 1
1A01:06	SubIndex 006	6. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x06 (Input 6))	UINT32	RO	0x6011:06, 1
1A01:07	SubIndex 007	7. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x07 (Input 7))	UINT32	RO	0x6011:07, 1
1A01:08	SubIndex 008	8. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2), entry 0x08 (Input 8))	UINT32	RO	0x6011:08, 1
1A01:09	SubIndex 009	9. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 8

Index 1A02 DIG TxPDO-Map Inputs Device

Index	Name	Meaning	Data type	Flags	Default
1A02:0	DIG TxPDO-Map Inputs Device	PDO Mapping TxPDO 3	UINT8	RO	0x07 (7_dec)
1A02:01	SubIndex 001	1. PDO Mapping entry (object 0xF600 (DO Inputs), entry 0x01 (Safe state active))	UINT32	RO	0xF600:01, 1
1A02:02	SubIndex 002	2. PDO Mapping entry (object 0xF600 (DO Inputs), entry 0x02 (Error channel 1))	UINT32	RO	0xF600:02, 1
1A02:03	SubIndex 003	3. PDO Mapping entry (object 0xF600 (DO Inputs), entry 0x03 (Error channel 2))	UINT32	RO	0xF600:03, 1
1A02:04	SubIndex 004	4. PDO Mapping entry (10 bits align)	UINT32	RO	0x0000:00, 10
1A02:05	SubIndex 005	5. PDO Mapping entry (object 0xF600 (DO Inputs), entry 0x0E (Sync Error))	UINT32	RO	0x1C32:20, 1
1A02:06	SubIndex 006	6. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A02:07	SubIndex 007	7. PDO Mapping entry (object 0x1800, entry 0x09)	UINT32	RO	0x1800:09, 1

Index 1C00 Sync manager type

Index	Name	Meaning	Data type	Flags	Default
1C00:0	Sync manager type	Using the Sync Managers	UINT8	RO	0x04 (4_dec)
1C00:01	SubIndex 001	Sync-Manager Type Channel 1: Mailbox Write	UINT8	RO	0x01 (1_dec)
1C00:02	SubIndex 002	Sync-Manager Type Channel 2: Mailbox Read	UINT8	RO	0x02 (2_dec)
1C00:03	SubIndex 003	Sync-Manager Type Channel 3: Process Data Write (Outputs)	UINT8	RO	0x03 (3_dec)
1C00:04	SubIndex 004	Sync-Manager Type Channel 4: Process Data Read (Inputs)	UINT8	RO	0x04 (4_dec)

Index 1C12 RxPDO assign

Index	Name	Meaning	Data type	Flags	Default
1C12:0	RxPDO assign	PDO Assign Outputs	UINT8	RW	0x03 (3_dec)
1C12:01	Subindex 001	1. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1600 (5632_dec)
1C12:02	Subindex 002	2. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1601 (5633_dec)
1C12:03	Subindex 003	3. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1602 (5634_dec)

Index 1C13 TxPDO assign

Index	Name	Meaning	Data type	Flags	Default
1C13:0	TxPDO assign	PDO Assign Inputs	UINT8	RW	0x03 (3_dec)
1C13:01	Subindex 001	1. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A00 (6656_dec)
1C13:02	Subindex 002	2. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A01 (6657_dec)
1C13:03	Subindex 003	3. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A02 (6658_dec)

Index 1C32 SM output parameter

Index	Name	Meaning	Data type	Flags	Default
1C32:0	SM output parameter	Synchronization parameters for the outputs	UINT8	RO	0x20 (32_dec)
1C32:01	Sync mode	Current synchronization 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	0x0001 (1_dec)
1C32:02	Cycle time	Cycle time (in ns): Free Run: Cycle time of the local timer Synchron with SM 2 Event: Master cycle time DC mode: SYNC0/SYNC1 Cycle Time	UINT32	RW	0x000F4240 (1000000_dec)
1C32:03	Shift time	Time between SYNC0 event and output of the outputs (in ns, DC mode only)	UINT32	RO	0x00020F58 (135000_dec)
1C32:04	Sync modes supported	Supported synchronization modes: 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 (only DC mode) Bit 14 = 1: dynamic times (measurement through writing of 1C32:08)	UINT16	RO	0xC007 (49159_dec)
1C32:05	Minimum cycle time	Minimum cycle time (in ns)	UINT32	RO	0x00030D40 (200000_dec)
1C32:06	Calc and copy time	Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)	UINT32	RO	0x00000000 (0_dec)
1C32:07	Minimum delay time		UINT32	RO	0x00020F58 (135000_dec)
1C32:08	Command	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 (0_dec)
1C32:09	Maximum Delay time	Time between SYNC1 event and output of the outputs (in ns, DC mode only)	UINT32	RO	0x00020F58 (135000_dec)
1C32:0B	SM event missed counter	Number of missed SM events in OPERATIONAL (DC mode only)	UINT16	RO	0x0000 (0_dec)
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 (0_dec)
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 (0_dec)
1C32:20	Sync error	The synchronization was not correct in the last cycle (outputs were output too late; DC mode only)	boolean	RO	0x00 (0_dec)

Index 1C33 SM input parameter

Index	Name	Meaning	Data type	Flags	Default
1C33:0	SM input parameter	Synchronization parameters for the inputs	UINT8	RO	0x20 (32_dec)
1C33:01	Sync mode	Current synchronization 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	0x0022 (34_dec)
1C33:02	Cycle time	as 1C32:02	UINT32	RW	0x000F4240 (1000000_dec)
1C33:03	Shift time	Time between SYNC0 event and reading of the inputs (in ns, only DC mode)	UINT32	RO	0x00000000 (0_dec)
1C33:04	Sync modes supported	Supported synchronization modes: 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	0xC007 (49159_dec)
1C33:05	Minimum cycle time	as 1C32:05	UINT32	RO	0x00030D40 (200000_dec)
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 (0_dec)
1C33:07	Minimum delay time		UINT32	RO	0x00000000 (0_dec)
1C33:08	Command	as 1C32:08	UINT16	RW	0x0000 (0_dec)
1C33:09	Maximum Delay time	Time between SYNC1 event and reading of the inputs (in ns, only DC mode)	UINT32	RO	0x00000000 (0_dec)
1C33:0B	SM event missed counter	as 1C32:11	UINT16	RO	0x0000 (0_dec)
1C33:0C	Cycle exceeded counter	as 1C32:12	UINT16	RO	0x0000 (0_dec)
1C33:0D	Shift too short counter	as 1C32:13	UINT16	RO	0x0000 (0_dec)
1C33:20	Sync error	as 1C32:32	boolean	RO	0x00 (0_dec)

Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

Index 6001 DIG Diag Inputs Ch.1

Index	Name	Data type	Flags	Default
6001:0	DIG Diag Inputs Ch.1	UINT8	RO	0x08 (8_dec)
6001:01	Diag Input 1	boolean	RO	0x00 (0_dec)
6001:02	Diag Input 2	boolean	RO	0x00 (0_dec)
6001:03	Diag Input 3	boolean	RO	0x00 (0_dec)
6001:04	Diag Input 4	boolean	RO	0x00 (0_dec)
6001:05	Diag Input 5	boolean	RO	0x00 (0_dec)
6001:06	Diag Input 6	boolean	RO	0x00 (0_dec)
6001:07	Diag Input 7	boolean	RO	0x00 (0_dec)
6001:08	Diag Input 8	boolean	RO	0x00 (0_dec)

Index 6011 DIG Diag Inputs Ch.2

Index	Name	Data type	Flags	Default
6011:0	DIG Diag Inputs Ch.2	UINT8	RO	0x08 (8_dec)
6011:01	Diag Input 1	boolean	RO	0x00 (0_dec)
6011:02	Diag Input 2	boolean	RO	0x00 (0_dec)
6011:03	Diag Input 3	boolean	RO	0x00 (0_dec)
6011:04	Diag Input 4	boolean	RO	0x00 (0_dec)
6011:05	Diag Input 5	boolean	RO	0x00 (0_dec)
6011:06	Diag Input 6	boolean	RO	0x00 (0_dec)
6011:07	Diag Input 7	boolean	RO	0x00 (0_dec)
6011:08	Diag Input 8	boolean	RO	0x00 (0_dec)

Index 7000 DIG Outputs Ch.1

Index	Name	Data type	Flags	Default
7000:0	DIG Outputs Ch.1	UINT8	RO	0x08 (8_dec)
7000:01	Output 1	boolean	RO	0x00 (0_dec)
7000:02	Output 2	boolean	RO	0x00 (0_dec)
7000:03	Output 3	boolean	RO	0x00 (0_dec)
7000:04	Output 4	boolean	RO	0x00 (0_dec)
7000:05	Output 5	boolean	RO	0x00 (0_dec)
7000:06	Output 6	boolean	RO	0x00 (0_dec)
7000:07	Output 7	boolean	RO	0x00 (0_dec)
7000:08	Output 8	boolean	RO	0x00 (0_dec)

Index 7010 DIG Outputs Ch.2

Index	Name	Data type	Flags	Default
7010:0	DIG Outputs Ch.2	UINT8	RO	0x08 (8_dec)
7010:01	Output 1	boolean	RO	0x00 (0_dec)
7010:02	Output 2	boolean	RO	0x00 (0_dec)
7010:03	Output 3	boolean	RO	0x00 (0_dec)
7010:04	Output 4	boolean	RO	0x00 (0_dec)
7010:05	Output 5	boolean	RO	0x00 (0_dec)
7010:06	Output 6	boolean	RO	0x00 (0_dec)
7010:07	Output 7	boolean	RO	0x00 (0_dec)
7010:08	Output 8	boolean	RO	0x00 (0_dec)

Index F000 Modular device profile

Index	Name	Meaning	Data type	Flags	Default
F000:0	Modular device profile	General information for the modular device profile	UINT8	RO	0x02 (2_dec)
F000:01	Module index distance	Index distance of the objects of the individual channels	UINT16	RO	0x0010 (16_dec)
F000:02	Maximum number of modules	Number of channels	UINT16	RO	0x0002 (2_dec)

Index F008 Code word

Index	Name	Meaning	Data type	Flags	Default
F008:0	Code word		UINT32	RW	0x00000000 (0_dec)

Index F010 Module list

Index	Name	Data type	Flags	Default
F010:0	Module list	UINT8	RW	0x02 (2_dec)
F010:01	SubIndex 001	UINT32	RW	0x00000118 (280_dec)
F010:02	SubIndex 002	UINT32	RW	0x00000118 (280_dec)

Index F600 DIG Inputs

Index	Name	Data type	Flags	Default
F600:0	DIG Inputs	UINT8	RO	0x10 (16_dec)
F600:01	Safe state active	boolean	RO	0x00 (0_dec)
F600:02	Error channel 1	boolean	RO	0x00 (0_dec)
F600:03	Error channel 2	boolean	RO	0x00 (0_dec)
F600:0E	Sync error	boolean	RO	0x00 (0_dec)
F600:10	TxPDO Toggle	boolean	RO	0x00 (0_dec)

Index F700 DIG Outputs

Index	Name	Data type	Flags	Default
F700:0	DIG Outputs	UINT8	RO	0x02 (2_dec)
F700:01	Set safe state	boolean	RO	0x00 (0_dec)
F700:02	Reset outputs	boolean	RO	0x00 (0_dec)

Index F800 DIG Settings

Index	Name	Data type	Flags	Default
F800:0	DIG Settings	UINT8	RO	0x11 (17_dec)
F800:01	Disable shut off	boolean	RW	0x00 (0_dec)
F800:11	Switch off time	UINT16	RW	0x03E8 (1000_dec)