Standard objects (0x1000-0x1FFF)

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

0x01901389 (26219401_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EP4174-0002

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

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

0x104E4052 (273563730_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

0x00100002 (1048578_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)

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)

1600:0

AO RxPDO-Map Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x01 (1_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (AO outputs Ch.1), entry 0x11 (Analog output))

UINT32

RO

0x7000:11, 16

1601:0

AO RxPDO-Map Ch.2

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (AO outputs Ch.2), entry 0x11 (Analog output))

UINT32

RO

0x7010:11, 16

1602:0

AO RxPDO-Map Ch.3

PDO Mapping RxPDO 3

UINT8

RO

0x01 (1_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (AO outputs Ch.3), entry 0x11 (Analog output))

UINT32

RO

0x7020:11, 16

1603:0

AO RxPDO-Map Ch.4

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1_dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7030 (AO outputs Ch.4), entry 0x11 (Analog output))

UINT32

RO

0x7030:11, 16

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)

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x04 (4_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)

1C12:04

Subindex 004

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

UINT16

RW

0x1603 (5635_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x00 (0_dec)

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

0x20 (32_dec)

1C32:01

Sync mode

Value

Current synchronization mode

UINT16

RW

0x0001 (1_dec)

0

Free Run

1

Synchron with SM 2 Event

2

DC-Mode - Synchron with SYNC0 Event

3

DC-Mode - Synchron with SYNC1 Event

1C32:02

Cycle time

Cycle time (in ns):

UINT32

RW

0x000F4240 (1000000_dec)

Free Run

Cycle time of the local timer

Synchron with SM 2 Event

Master cycle time

DC-Mode

SYNC0/SYNC1 Cycle Time

1C32:03

Shift time

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

UINT32

RO

0x00003A98 (15000_dec)

1C32:04

Sync modes supported

Bit

Value

Supported synchronization modes:

UINT16

RO

0xC007 (49159_dec)

0

1

free run is supported

1

1

Synchronous with SM 2 event is supported

3.2

01

DC mode is supported

5.4

10

Output shift with SYNC1 event (only DC mode)

14

1

dynamic times (measurement through writing of 0x1C32:08)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000493E0 (300000_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

0x00003A98 (15000_dec)

1C32:08

Command

0

Measurement of the local cycle time is stopped

UINT16

RW

0x0000 (0_dec)

1

Measurement of the local cycle time is started

The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09

1C32:09

Maximum Delay time

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

UINT32

RO

0x00003A98 (15000_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)