Standard objects

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 (5001_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EP6090

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

variable

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

variable

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

0x17CA4051 (399130705_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

0

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

variable

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

variable

1600:0

IO RxPDOPDO-Map

PDO Mapping RxPDO 1

UINT8

RO

0x02 (2_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (16 bits align)

UINT32

RO

0x7000:11, 16

1600:02

SubIndex 001

2. PDO Mapping entry (16 bits align)

UINT32

RO

0x7000:12, 16

1601:0

IO RxPDOPDO-Map Ch.1

PDO Mapping RxPDO

UINT8

RO

0x06 (6_dec)

160n:01

SubIndex 001

Timer n start

UINT32

RO

0x70n0:01, 1

160n:02

SubIndex 002

Timer n reset

UINT32

RO

0x70n0:02, 1

160n:03

SubIndex 003

Padding bits

UINT32

RO

0x0000:00, 5

160n:04

SubIndex 004

Counter n clk

UINT32

RO

0x70n0:08, 1

160n:05

SubIndex 005

Counter n reset

UINT32

RO

0x70n0:09, 1

160n:06

SubIndex 006

Padding bits

UINT32

RO

0x0000:00, 7

1A00:0

IO TxPDOPDO-Map Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x08 (8_dec)

1A00:01

SubIndex 001

Padding bits

UINT32

RO

0x0000:00, 2

1A00:02

SubIndex 002

Up

UINT32

RO

0x6000:03, 1

1A030:03

SubIndex 003

Down

UINT32

RO

0x6000:04, 1

1A00:04

SubIndex 004

Left

UINT32

RO

0x6000:05, 1

1A00:05

SubIndex 005

Right

UINT32

RO

0x6000:06, 1

1A00:06

SubIndex 006

Enter

UINT32

RO

0x6000:07, 1

1A00:07

SubIndex 007

Padding bits

UINT32

RO

0x0000:00, 8

1A00:08

SubIndex 008

Toggle bit

UINT32

RO

0x6000:10, 1

1A0n:0

IO TxPDOPDO-Map Ch.2

PDO Mapping TxPDO 2

UINT8

RO

0x04 (4_dec)

1A0n:01

SubIndex 001

Padding bits

UINT32

RO

0x0000:00, 14

1A0n:02

SubIndex 002

Input cycle counter

UINT32

RO

0x60n0:0F, 2

1A0n:03

SubIndex 003

Timer n

UINT32

RO

0x60n0:11, 32

1A0n:04

SubIndex 004

Counter n

UINT32

RO

0x60n0:12, 32

1A05:0

TxPDOeState TxPDO-Map Device

PDO Mapping TxPDO 5

UINT8

RO

0x03 (3_dec)

1A05:01

SubIndex 001

Padding bits

UINT32

RO

0x0000:00, 14

1A05:02

SubIndex 002

Input cycle counter

UINT32

RO

0xF600:0F, 2

1A05:03

SubIndex 003

Operating mode

UINT32

RO

0xF600:11, 32

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

0x05 (5_dec)

1C32:01

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)

1C12:05

SubIndex 005

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

UINT16

RW

0x1604 (5636_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x05 (5_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)

1C13:04

SubIndex 004

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

UINT16

RW

0x1A03 (6659_dec)

1C13:05

SubIndex 005

5. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A04 (6660_dec)

1C32:06

SubIndex 006

6. allocated TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A05 (6661_dec)

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: Synchronous with SM 2 event
• 2: DC-Mode - Synchronous with SYNC0 Event
• 3: DC-Mode - Synchronous with SYNC1 event

UINT16

RW

0x0000 (0_dec)

1C32:02

Cycle time

Cycle time (in ns):

• Free Run: Cycle time of the local timer
• Synchronous with SM 2 event: Master cycle time
• DC mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x000186A0 (100000_dec)

1C32:03

Shift time

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

UINT32

RO

0x00000000 (0_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 0x1C32:08)

UINT16

RO

0xC007 (49159_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000_dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0_dec)

1C32:08

Command

• 0: Measurement of the local cycle time is stopped
• 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 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0_dec)

1C32:09

Delay time

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

UINT32

RO

0x00000000 (0_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)

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

0x0000 (0_dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

0x000186A0 (100000_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: 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 (49159_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x000186A0 (100000_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)

1C33:08

Command

as 0x1C32:08

UINT16

RW

0x0000 (0_dec)

1C33:09

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 0x1C32:11

UINT16

RO

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:12

UINT16

RO

0x0000 (0_dec)

1C33:0D

Shift too short counter

as 0x1C32:13

UINT16

RO

0x0000 (0_dec)

1C33:20

Sync error

as 0x11C32:32

BOOLEAN

RO

0x00 (0_dec)