Standard objects

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

-

0x00001389 (5001_dec)

1008:0

Device name

Device name of the EtherCAT slave.

STRING

-

EP6601

1009:0

Hardware version

Hardware version of the EtherCAT slave.

STRING

-

-

100A:0

Software version

Firmware version of the EtherCAT slave.

STRING

-

-

100B:0

Bootloader version

Bootloader version of the EtherCAT slave.

STRING

RO

-

1011:0

Restore default parameters

Restore the delivery state.

USINT

RO

0x01 (1_dec)

1011:01

SubIndex 001

If you set this object to "0x64616F6C", all backup objects are reset to the delivery state.

RW

0

1018:0

Identity

Information for identifying the slave.

USINT

RO

0x04 (4_dec)

1018:01

Vendor ID

Vendor ID of the EtherCAT slave.

UDINT

RO

0x00000002 (2_dec)

1018:02

Product code

Product code of the EtherCAT slave.

UDINT

RO

0x19C94052 (432619602_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.

UDINT

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.

UDINT

RO

0

10E2:0

Manufacturer-specific Identification Code

Vendor-specific identification code.

USINT

RO

0x01 (1_dec)

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries.

USINT

RO

0x01 (1_dec)

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave.

UDINT

RO

0

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)

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: cycle time of the master

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

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 1C32:08)

UINT16

RO

0x0003 (3_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0003D090 (250000_dec)

1C32:06

Calc and copy time

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

UINT32

RO

0

1C32:07

Minimum delay time

Delay due to signal propagation times in hardware, minimum value. Unit: ns

UINT32

RO

0

1C32:08

Get Cycle Time

• 0: Measurement of the local cycle time is stopped
• 1: Measurement of the local cycle time is started

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

0

1C32:09

Maximum delay time

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

UINT32

RO

0

1C32:0B

SM event missed counter

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

UINT16

RO

0

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

0

1C32:0D

Shift too short counter

Number of occasions that the interval between SYNC0 and SYNC1 event was too short (DC mode only).

UINT

RO

0

1C32:20

Sync error

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

BOOLEAN

RO

0

1C33:0

SM input parameter

Synchronization parameters for the inputs

USINT

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)

UINT

RW

0

1C33:02

Cycle time

Cycle time (in ns):

• Synchron with SM 2 Event: cycle time of the master

DC-Mode: SYNC0/SYNC1 Cycle Time

UDINT

RW

0

1C33:03

Shift time

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

UDINT

RO

0

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 1C33:08)

UINT

RO

0x0002 (2_dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UDINT

RO

0

1C33:06

Calc and copy time

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

UDINT

RO

0

1C33:07

Minimum delay time

Delay due to signal propagation times in hardware, minimum value. Unit: ns

UDINT

RO

0

1C33:08

Get Cycle Time

• 0: Measurement of the local cycle time is stopped
• 1: Measurement of the local cycle time is started

The entries 1C33:03, 1C33:06, 1C33:07, 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT

RW

0

1C33:09

Maximum delay time

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

UDINT

RO

0

1C33:0B

SM event missed counter

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

UINT

RO

0

1C33:0C

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

0

1C33:0D

Shift too short counter

Number of occasions that the interval between SYNC0 and SYNC1 event was too short (DC mode only)

UINT

RO

0

1C33:20

Sync error

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

BOOL

RO

0

F000:0

Modular Device Profile

General information for the Modular Device Profile.

USINT

RO

0x02 (2_dec)

F000:01

Index distance

Index distance of the objects of the individual channels.

UINT

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels.

UINT

RO

0

F008:0

Code word

reserved

UDINT

RW

0

F081:0

Download revision

USINT

RO

0x01 (1_dec)

F081:01

Revision number

Revision number of the module.

Relevant as a startup list entry for compatibility.

UDINT

RW

0x00120002 (1179650_dec)