Standard objects

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 used CoE profile (5001). The Hi-Word contains the module profile according to the modular device profile.

UDINT

RO

0x8913FB00 (2299788032dec)

1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING(11)

RO

EP2534-0002

1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING(2)

RO

-

100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING(2)

RO

-

100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100B:0

Bootloader version

Bootloader version of the EtherCAT slave

STRING(32)

RO

-

1011 Restore default parameters

Index (hex)

Name

Meaning

Data type

Flags

Default

1011:0

Restore default parameters

See chapter Restore the delivery state

USINT

RO

0x1 (1dec)

1018 Identity

Index (hex)

Name

Meaning

Data type

Flags

Default

1018:0

Identity

Information for identifying the slave

USINT

RO

0x4 (4dec)

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UDINT

RO

0x2 (2dec)

1018:02

Product code

Product code of the EtherCAT slave

UDINT

RO

0x9E64052 (166084690dec)

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

UDINT

RO

-

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

UDINT

RO

-

10E2 Manufacturer-specific Identification Code

Index (hex)

Name

Meaning

Data type

Flags

Default

10E2:0

Manufacturer-specific Identification Code

 

USINT

RO

0x1 (1dec)

10F0 Backup parameter handling

Index (hex)

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter handling

 

USINT

RO

0x1 (1dec)

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UDINT

RO

-

10F3 Diagnosis History

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis History

 

USINT

RO

0x15 (21dec)

10F3:01

Maximum Messages

-

USINT

RO

-

10F3:02

Newest Message

-

USINT

RO

-

10F3:03

Newest Acknowledged Message

-

USINT

RW

-

10F3:04

New Messages Available

-

BOOL

RO

-

10F3:05

Flags

-

UINT

RW

-

10F3:06

Diagnosis Message 001

-

ARRAY [0..19] OF BYTE

RO

-

10F3:07

Diagnosis Message 002

-

ARRAY [0..19] OF BYTE

RO

-

10F3:08

Diagnosis Message 003

-

ARRAY [0..19] OF BYTE

RO

-

10F3:09

Diagnosis Message 004

-

ARRAY [0..19] OF BYTE

RO

-

10F3:0A

Diagnosis Message 005

-

ARRAY [0..19] OF BYTE

RO

-

10F3:0B

Diagnosis Message 006

-

ARRAY [0..19] OF BYTE

RO

-

10F3:0C

Diagnosis Message 007

-

ARRAY [0..19] OF BYTE

RO

-

10F3:0D

Diagnosis Message 008

-

ARRAY [0..19] OF BYTE

RO

-

10F3:0E

Diagnosis Message 009

-

ARRAY [0..19] OF BYTE

RO

-

10F3:0F

Diagnosis Message 010

-

ARRAY [0..19] OF BYTE

RO

-

10F3:10

Diagnosis Message 011

-

ARRAY [0..19] OF BYTE

RO

-

10F3:11

Diagnosis Message 012

-

ARRAY [0..19] OF BYTE

RO

-

10F3:12

Diagnosis Message 013

-

ARRAY [0..19] OF BYTE

RO

-

10F3:13

Diagnosis Message 014

-

ARRAY [0..19] OF BYTE

RO

-

10F3:14

Diagnosis Message 015

-

ARRAY [0..19] OF BYTE

RO

-

10F3:15

Diagnosis Message 016

-

ARRAY [0..19] OF BYTE

RO

-

10F8 Timestamp Object

Index (hex)

Name

Meaning

Data type

Flags

Default

10F8:0

Timestamp Object

-

ULINT

RO

-

1600 PWM RxPDO-Map Control Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

PWM RxPDO-Map Control Ch.1

 

USINT

RO

0x6 (6dec)

1600:01

SubIndex 001

PDO Mapping Entry for "Enable Dithering".

UDINT

RO

0x7000:01, 1

1600:02

SubIndex 002

 

UDINT

RO

0x0000:00, 4

1600:03

SubIndex 003

PDO Mapping Entry for "Enable".

UDINT

RO

0x7000:06, 1

1600:04

SubIndex 004

PDO Mapping Entry for "Reset".

UDINT

RO

0x7000:07, 1

1600:05

SubIndex 005

 

UDINT

RO

0x0000:00, 9

1600:06

SubIndex 006

PDO Mapping Entry for "PWM Output".

UDINT

RO

0x7000:11, 16

1610 PWM RxPDO-Map Control Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1610:0

PWM RxPDO-Map Control Ch.2

 

USINT

RO

0x6 (6dec)

1610:01

SubIndex 001

PDO Mapping Entry for "Enable Dithering".

UDINT

RO

0x7010:01, 1

1610:02

SubIndex 002

 

UDINT

RO

0x0000:00, 4

1610:03

SubIndex 003

PDO Mapping Entry for "Enable".

UDINT

RO

0x7010:06, 1

1610:04

SubIndex 004

PDO Mapping Entry for "Reset".

UDINT

RO

0x7010:07, 1

1610:05

SubIndex 005

 

UDINT

RO

0x0000:00, 9

1610:06

SubIndex 006

PDO Mapping Entry for "PWM Output".

UDINT

RO

0x7010:11, 16

1620 PWM RxPDO-Map Control Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1620:0

PWM RxPDO-Map Control Ch.3

 

USINT

RO

0x6 (6dec)

1620:01

SubIndex 001

PDO Mapping Entry for "Enable Dithering".

UDINT

RO

0x7020:01, 1

1620:02

SubIndex 002

 

UDINT

RO

0x0000:00, 4

1620:03

SubIndex 003

PDO Mapping Entry for "Enable".

UDINT

RO

0x7020:06, 1

1620:04

SubIndex 004

PDO Mapping Entry for "Reset".

UDINT

RO

0x7020:07, 1

1620:05

SubIndex 005

 

UDINT

RO

0x0000:00, 9

1620:06

SubIndex 006

PDO Mapping Entry for "PWM Output".

UDINT

RO

0x7020:11, 16

1630 PWM RxPDO-Map Control Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1630:0

PWM RxPDO-Map Control Ch.4

 

USINT

RO

0x6 (6dec)

1630:01

SubIndex 001

PDO Mapping Entry for "Enable Dithering".

UDINT

RO

0x7030:01, 1

1630:02

SubIndex 002

 

UDINT

RO

0x0000:00, 4

1630:03

SubIndex 003

PDO Mapping Entry for "Enable".

UDINT

RO

0x7030:06, 1

1630:04

SubIndex 004

PDO Mapping Entry for "Reset".

UDINT

RO

0x7030:07, 1

1630:05

SubIndex 005

 

UDINT

RO

0x0000:00, 9

1630:06

SubIndex 006

PDO Mapping Entry for "PWM Output".

UDINT

RO

0x7030:11, 16

1A00 PWM TxPDO-Map Status Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

PWM TxPDO-Map Status Ch.1

 

USINT

RO

0x8 (8dec)

1A00:01

SubIndex 001

 

UDINT

RO

0x0000:00, 4

1A00:02

SubIndex 002

PDO Mapping Entry for "Ready to Enable".

UDINT

RO

0x6000:05, 1

1A00:03

SubIndex 003

PDO Mapping Entry for "Warning".

UDINT

RO

0x6000:06, 1

1A00:04

SubIndex 004

PDO Mapping Entry for "Error".

UDINT

RO

0x6000:07, 1

1A00:05

SubIndex 005

 

UDINT

RO

0x0000:00, 5

1A00:06

SubIndex 006

PDO Mapping Entry for "Diag".

UDINT

RO

0x6000:0d, 1

1A00:07

SubIndex 007

 

UDINT

RO

0x0000:00, 2

1A00:08

SubIndex 008

PDO Mapping Entry for "TxPDO Toggle".

UDINT

RO

0x6000:10, 1

1A01 PWM TxPDO-Map Synchron Info Data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

PWM TxPDO-Map Synchron Info Data Ch.1

 

USINT

RO

0x2 (2dec)

1A01:01

SubIndex 001

PDO Mapping Entry for "Info Data 1".

UDINT

RO

0x6000:11, 16

1A01:02

SubIndex 002

PDO Mapping Entry for "Info Data 2".

UDINT

RO

0x6000:12, 16

1A10 PWM TxPDO-Map Status Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A10:0

PWM TxPDO-Map Status Ch.2

 

USINT

RO

0x8 (8dec)

1A10:01

SubIndex 001

 

UDINT

RO

0x0000:00, 4

1A10:02

SubIndex 002

PDO Mapping Entry for "Ready to Enable".

UDINT

RO

0x6010:05, 1

1A10:03

SubIndex 003

PDO Mapping Entry for "Warning".

UDINT

RO

0x6010:06, 1

1A10:04

SubIndex 004

PDO Mapping Entry for "Error".

UDINT

RO

0x6010:07, 1

1A10:05

SubIndex 005

 

UDINT

RO

0x0000:00, 5

1A10:06

SubIndex 006

PDO Mapping Entry for "Diag".

UDINT

RO

0x6010:0d, 1

1A10:07

SubIndex 007

 

UDINT

RO

0x0000:00, 2

1A10:08

SubIndex 008

PDO Mapping Entry for "TxPDO Toggle".

UDINT

RO

0x6010:10, 1

1A11 PWM TxPDO-Map Synchron Info Data Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A11:0

PWM TxPDO-Map Synchron Info Data Ch.2

 

USINT

RO

0x2 (2dec)

1A11:01

SubIndex 001

PDO Mapping Entry for "Info Data 1".

UDINT

RO

0x6010:11, 16

1A11:02

SubIndex 002

PDO Mapping Entry for "Info Data 2".

UDINT

RO

0x6010:12, 16

1A20 PWM TxPDO-Map Status Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A20:0

PWM TxPDO-Map Status Ch.3

 

USINT

RO

0x8 (8dec)

1A20:01

SubIndex 001

 

UDINT

RO

0x0000:00, 4

1A20:02

SubIndex 002

PDO Mapping Entry for "Ready to Enable".

UDINT

RO

0x6020:05, 1

1A20:03

SubIndex 003

PDO Mapping Entry for "Warning".

UDINT

RO

0x6020:06, 1

1A20:04

SubIndex 004

PDO Mapping Entry for "Error".

UDINT

RO

0x6020:07, 1

1A20:05

SubIndex 005

 

UDINT

RO

0x0000:00, 5

1A20:06

SubIndex 006

PDO Mapping Entry for "Diag".

UDINT

RO

0x6020:0d, 1

1A20:07

SubIndex 007

 

UDINT

RO

0x0000:00, 2

1A20:08

SubIndex 008

PDO Mapping Entry for "TxPDO Toggle".

UDINT

RO

0x6020:10, 1

1A21 PWM TxPDO-Map Synchron Info Data Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A21:0

PWM TxPDO-Map Synchron Info Data Ch.3

 

USINT

RO

0x2 (2dec)

1A21:01

SubIndex 001

PDO Mapping Entry for "Info Data 1".

UDINT

RO

0x6020:11, 16

1A21:02

SubIndex 002

PDO Mapping Entry for "Info Data 2".

UDINT

RO

0x6020:12, 16

1A30 PWM TxPDO-Map Status Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A30:0

PWM TxPDO-Map Status Ch.4

 

USINT

RO

0x8 (8dec)

1A30:01

SubIndex 001

 

UDINT

RO

0x0000:00, 4

1A30:02

SubIndex 002

PDO Mapping Entry for "Ready to Enable".

UDINT

RO

0x6030:05, 1

1A30:03

SubIndex 003

PDO Mapping Entry for "Warning".

UDINT

RO

0x6030:06, 1

1A30:04

SubIndex 004

PDO Mapping Entry for "Error".

UDINT

RO

0x6030:07, 1

1A30:05

SubIndex 005

 

UDINT

RO

0x0000:00, 5

1A30:06

SubIndex 006

PDO Mapping Entry for "Diag".

UDINT

RO

0x6030:0d, 1

1A30:07

SubIndex 007

 

UDINT

RO

0x0000:00, 2

1A30:08

SubIndex 008

PDO Mapping Entry for "TxPDO Toggle".

UDINT

RO

0x6030:10, 1

1A31 PWM TxPDO-Map Synchron Info Data Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A31:0

PWM TxPDO-Map Synchron Info Data Ch.4

 

USINT

RO

0x2 (2dec)

1A31:01

SubIndex 001

PDO Mapping Entry for "Info Data 1".

UDINT

RO

0x6030:11, 16

1A31:02

SubIndex 002

PDO Mapping Entry for "Info Data 2".

UDINT

RO

0x6030:12, 16

1C00 Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

 

USINT

RO

0x4 (4dec)

1C00:01

SubIndex 001

 

USINT

RO

0x1 (1dec)

1C00:02

SubIndex 002

 

USINT

RO

0x2 (2dec)

1C00:03

SubIndex 003

 

USINT

RO

0x3 (3dec)

1C00:04

SubIndex 004

 

USINT

RO

0x4 (4dec)

1C12 RxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

USINT

RO

0x4 (4dec)

1C12:01

SubIndex 001

 

UINT

RW

0x16 (22dec)

1C12:02

SubIndex 002

 

UINT

RW

0x1016 (4118dec)

1C12:03

SubIndex 003

 

UINT

RW

0x2016 (8214dec)

1C12:04

SubIndex 004

 

UINT

RW

0x3016 (12310dec)

1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

USINT

RO

0x4 (4dec)

1C13:01

SubIndex 001

 

UINT

RW

0x1A (26dec)

1C13:02

SubIndex 002

 

UINT

RW

0x101A (4122dec)

1C13:03

SubIndex 003

 

UINT

RW

0x201A (8218dec)

1C13:04

SubIndex 004

 

UINT

RW

0x301A (12314dec)

1C13:05

SubIndex 005

 

UINT

RW

0x0 (0dec)

1C13:06

SubIndex 006

 

UINT

RW

0x0 (0dec)

1C13:07

SubIndex 007

 

UINT

RW

0x0 (0dec)

1C13:08

SubIndex 008

 

UINT

RW

0x0 (0dec)

1C32 SM output parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C32:0

SM output parameter

Synchronization parameters for the outputs

USINT

RO

0x20 (32dec)

1C32:01

Sync mode

Current synchronization mode:

  • 0: Free Run
  • 1: Synchronous with SM 2 Event
  • 2: DC-Mode - synchronous with SYNC0 Event

3: DC-Mode - synchronous with SYNC1 Event

UINT

RW

0x1 (1dec)

1C32:02

Cycle time

Cycle time (in ns):

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

DC-Mode: SYNC0/SYNC1 Cycle Time

UDINT

RW

0xF4240 (1000000dec)

1C32:03

Shift time

Time between SYNC0 event and output of the outputs (in ns, DC mode only)

UDINT

RO

0x0 (0dec)

1C32:04

Sync modes supported

Sync modes supported:

  • Bit 0 = 1: Free Run is supported
  • Bit 1 = 1: Synchronization 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)

UINT

RO

0x3 (3dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UDINT

RO

0x2BF20 (180000dec)

1C32:06

Calc and copy time

Minimum time between SYNC0 and SYNC1 event (in ns, DC Mode only)

UDINT

RO

0x0 (0dec)

1C32:07

Minimum delay time

 

UDINT

RO

0x0 (0dec)

1C32:08

Get Cycle Time

  • 0: Measurement of the local cycle time is stopped

1: Measurement of the local cycle time is started

UINT

RW

0x0 (0dec)

1C32:09

Maximum delay time

Time between SYNC1 event and output of the outputs (in ns, DC mode only)

UDINT

RO

0x0 (0dec)

1C32:0B

SM event missed counter

Number of missed SM events in OPERATIONAL (DC Mode only)

UINT

RO

-

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)

UINT

RO

-

1C32:0D

Shift too short counter

Number of intervals between SYNC0 and SYNC1 events that are too short (DC Mode only)

UINT

RO

-

1C32:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC Mode only)

BOOL

RO

-

1C33 SM input parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C33:0

SM input parameter

Synchronization parameters for the inputs

USINT

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)

UINT

RW

0x22 (34dec)

1C33:02

Cycle time

as 1C32:02

UDINT

RW

0xF4240 (1000000dec)

1C33:03

Shift time

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

UDINT

RO

0x0 (0dec)

1C33:04

Sync modes supported

Sync modes supported:

  • Bit 0: Free Run is supported
  • Bit 1: Synchronization with SM 2 Event is supported (outputs available)
  • Bit 1: Synchronization 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)

UINT

RO

0x3 (3dec)

1C33:05

Minimum cycle time

as 1C32:05

UDINT

RO

0x2BF20 (180000dec)

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)

UDINT

RO

0x0 (0dec)

1C33:07

Minimum delay time

 

UDINT

RO

0x0 (0dec)

1C33:08

Get Cycle Time

as 1C32:08

UINT

RW

0x0 (0dec)

1C33:09

Maximum delay time

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

UDINT

RO

0x0 (0dec)

1C33:0B

SM event missed counter

as 1C32:11

UINT

RO

-

1C33:0C

Cycle exceeded counter

as 1C32:12

UINT

RO

-

1C33:0D

Shift too short counter

as 1C32:13

UINT

RO

-

1C33:20

Sync error

as 1C32:32

BOOL

RO

-

F000 Modular Device Profile

Index (hex)

Name

Meaning

Data type

Flags

Default

F000:0

Modular Device Profile

 

USINT

RO

0x2 (2dec)

F000:01

Index distance

 

UINT

RO

0x10 (16dec)

F000:02

Maximum number of modules

 

UINT

RO

0x4 (4dec)

F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

-

UDINT

RO

-

FB00 PWM Command

Index (hex)

Name

Meaning

Data type

Flags

Default

FB00:0

PWM Command

 

USINT

RO

0x3 (3dec)

FB00:01

Request

-

ARRAY [0..1] OF BYTE

RW

-

FB00:02

Status

-

USINT

RO

-

FB00:03

Response

-

ARRAY [0..7] OF BYTE

RO

-