Profile-specific objects (0x6000 .. 0xFFFF)

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

Index 6000 ENC Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

6000:0

ENC Inputs Ch.1

Maximum subindex

UINT8

RO

0x16 (22dec)

6000:01

Latch C valid

The counter value was latched with the C track.

BOOLEAN

RO

0x00 (0dec)

6000:02

Latch extern valid

The counter value was stored via the external latch.

BOOLEAN

RO

0x00 (0dec)

6000:03

Set counter done

The counter was set.

BOOLEAN

RO

0x00 (0dec)

6000:04

Counter underflow

Counter underflow.

BOOLEAN

RO

0x00 (0dec)

6000:05

Counter overflow

Counter overflow.

BOOLEAN

RO

0x00 (0dec)

6000:08

Extrapolation stall

The extrapolated part of the counter is invalid

BOOLEAN

RO

0x00 (0dec)

6000:09

Status of input A

Status of the A-input.

BOOLEAN

RO

0x00 (0dec)

6000:0A

Status of input B

Status of the B-input.

BOOLEAN

RO

0x00 (0dec)

6000:0B

Status of input C

Status of the C-input.

BOOLEAN

RO

0x00 (0dec)

6000:0D

Status of extern latch

Status of the ext. latch input.

BOOLEAN

RO

0x00 (0dec)

6000:0E

Sync error

The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle.

BOOLEAN

RO

0x00 (0dec)

6000:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

0x00 (0dec)

6000:11

Counter value

The counter value.

UINT32

RO

0x00000000 (0dec)

6000:12

Latch value

The latch value.

UINT32

RO

0x00000000 (0dec)

6000:16

Timestamp

Time stamp of the last counter change.

UINT32

RO

0x00000000 (0dec)

Index 6010 STM Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

6010:0

STM Inputs Ch.1

Maximum subindex

UINT8

RO

0x12 (18dec)

6010:01

Ready to enable

Driver stage is ready for enabling

BOOLEAN

RO

0x00 (0dec)

6010:02

Ready

Driver stage is ready for operation

BOOLEAN

RO

0x00 (0dec)

6010:03

Warning

A warning has occurred

BOOLEAN

RO

0x00 (0dec)

6010:04

Error

An error has occurred (see index 0xA010)

BOOLEAN

RO

0x00 (0dec)

6010:05

Moving positive

Motor turns in positive direction

BOOLEAN

RO

0x00 (0dec)

6010:06

Moving negative

Motor turns in negative direction

BOOLEAN

RO

0x00 (0dec)

6010:07

Torque reduced

Reduced torque is active

BOOLEAN

RO

0x00 (0dec)

6010:0C

Digital input 1

Digital input 1

BOOLEAN

RO

0x00 (0dec)

6010:0D

Digital input 2

Digital input 2

BOOLEAN

RO

0x00 (0dec)

6010:0E

Sync error

The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle.

BOOLEAN

RO

0x00 (0dec)

6010:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

0x00 (0dec)

6010:11

Info data 1

Synchronous information (selection via subindex 0x8012:11)

UINT16

RO

0x0000 (0dec)

6010:12

Info data 2

Synchronous information (selection via subindex 0x8012:19)

UINT16

RO

0x0000 (0dec)

6010:14

Internal position

Internal microstep position

UINT32

RO

0x00000000 (0dez)

6010:15

External position

Encoder position

UINT32

RO

0x00000000 (0dez)

Index 6020 POS Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

6020:0

POS Inputs Ch.1

Maximum subindex

UINT8

RO

0x22 (34dec)

6020:01

Busy

A current travel command is active

BOOLEAN

RO

0x00 (0dec)

6020:02

In-Target

Motor has arrived at target

BOOLEAN

RO

0x00 (0dec)

6020:03

Warning

A warning has occurred

BOOLEAN

RO

0x00 (0dec)

6020:04

Error

an error has occurred

BOOLEAN

RO

0x00 (0dec)

6020:05

Calibrated

Motor is calibrated

BOOLEAN

RO

0x00 (0dec)

6020:06

Accelerate

Motor is in the acceleration phase

BOOLEAN

RO

0x00 (0dec)

6020:07

Decelerate

Motor is in the deceleration phase

BOOLEAN

RO

0x00 (0dec)

6020:08

Ready to execute

 

BOOLEAN

RO

0x00 (0dec)

6020:11

Actual position

Current target position of the travel command generator

UINT32

RO

0x00007FFF (32767dec)

6020:21

Actual velocity

Current set velocity of the travel command generator

INT16

RO

0x0000 (0dec)

6020:22

Actual drive time

Travel command time information (see subindex 0x8021:11)

UINT32

RO

0x00000000 (0dec)

6020:23

Actual position lag

 

UINT32

RO

0x00000000 (0dec)

Index 7000 ENC Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

7000:0

ENC Outputs Ch.1

Maximum subindex

UINT8

RO

0x11 (17dec)

7000:01

Enable latch C

Activate latching via the C-track.

BOOLEAN

RO

0x00 (0dec)

7000:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

0x00 (0dec)

7000:03

Set counter

Set the counter value.

BOOLEAN

RO

0x00 (0dec)

7000:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

0x00 (0dec)

7000:11

Set counter value

This is the counter value to be set via "Set counter".

UINT32

RO

0x00000000 (0dec)

Index 7010 STM Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

7010:0

STM Outputs Ch.1

Maximum subindex

UINT8

RO

0x21 (33dec)

7010:01

Enable

activates the output stage (see subindex 0x8012:3A)

BOOLEAN

RO

0x00 (0dec)

7010:02

Reset

all errors that may have occurred are reset by setting this bit (rising edge)

BOOLEAN

RO

0x00 (0dec)

7010:03

Reduce torque

Activation of reduced torque (coil current) (see subindex 0x8010:02)

BOOLEAN

RO

0x00 (0dec)

7010:0C

Digital output 1

Signal at digital output 1

BOOLEAN

RO

0x00 (0dec)

7010:11

Position

Set position

UINT32

RO

0x00000000 (0dec)

7010:21

Velocity

Set velocity

INT16

RO

0x0000 (0dec)

Index 7020 POS Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

7020:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

0x24 (36dec)

7020:01

Execute

Start travel command (rising edge), or prematurely abort travel command (falling edge)

BOOLEAN

RO

0x00 (0dec)

7020:02

Emergency Stop

Prematurely abort travel command with an emergency ramp (rising edge)

BOOLEAN

RO

0x00 (0dec)

7020:11

Target position

Specification of the target position

UINT32

RO

0x00007FFF (32767dec)

7020:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0dec)

Index (hex)

Name

Meaning

Data type

Flags

Default

 

 

 

7020:22

Start type

Specification of the start types

0x0000

Idle

No travel command is being executed

UINT16

RO

0x0000 (0dec)

0x0001

Absolute

Absolute target position

0x0002

Relative

Target position relative to the start position

0x0003

Endless plus

Endless driving in positive direction of rotation

0x0004

Endless minus

Endless driving in negative direction of rotation

0x0105

Modulo short

Shortest distance to the next modulo position

0x0115

Modulo short extended

Shortest distance to the next modulo position (without modulo window)

0x0205

Modulo plus

Drive in positive direction of rotation to the next modulo position

0x0215

Modulo plus extended

Drive in positive direction of rotation to the next modulo position (without modulo window)

0x0305

Modulo minus

Drive in negative direction of rotation to the next modulo position

0x0315

Modulo minus extended

Drive in negative direction of rotation to the next modulo position (without modulo window)

0x0405

Modulo current

Drive in the last implemented direction of rotation to the next modulo position

0x0415

Modulo current extended

Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

0x0006

Additive

New target position relative/additive to the last target position

0x6000

Calibration, Plc cam

Calibration with cam

0x6100

Calibration, Hw sync

Calibration with cam and C-track

0x6E00

Calibration, set manual

Set calibration manually

0x6E01

Calibration, set manual auto

Set calibration automatically

0x6F00

Calibration, clear manual

Clear calibration manually

7020:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0dec)

7020:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0dec)

Index 7021 POS Outputs 2 Ch.1 (part 1)

Index (hex)

Name

Meaning

Data type

Flags

Default value

7021:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

0x24 (36dec)

7021:03

Enable auto start

Enable auto start

BOOLEAN

RO

0x00 (0dec)

7021:11

Target position

Specification of the target position

UINT32

RO

0x00000000 (0dec)

7021:21

Velocity

Specification of the maximum set velocity

INT16

RO

0x0000 (0dec)

Index 7021 POS Outputs 2 Ch.1 (part 2)

Index (hex)

Name

Meaning

Data type

Flags

Default value

7021:22

Start type

0x0000 Idle: No travel command is being executed

UINT16

RO

0x0000 (0dec)

0x0001 Absolute: Absolute target position

UINT16

RO

0x0000 (0dec)

0x1001 Absolute (Change): Change during an active travel command

UINT16

RO

0x0000 (0dec)

0x0002 Relative: Target position relative to the current position

UINT16

RO

0x0000 (0dec)

0x1002 Relative (Change): Change during an active travel command

UINT16

RO

0x0000 (0dec)

0x0003 Endless plus: Endless driving in positive direction of rotation

UINT16

RO

0x0000 (0dec)

0x0004 Endless minus: Endless driving in negative direction of rotation

UINT16

RO

0x0000 (0dec)

0x0105 Modulo short: Shortest distance to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0115 Modulo short extended: Shortest distance to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0205 Modulo plus: Drive in positive direction of rotation to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0215 Modulo plus extended: Drive in positive direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0305 Modulo minus: Drive in negative direction of rotation to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0315 Modulo minus extended: Drive in negative direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0405 Modulo current: Drive in the last implemented direction of rotation to the next modulo position

UINT16

RO

0x0000 (0dec)

0x0415 Modulo current extended: Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0000 (0dec)

0x0006 Additive: New target position relative/additive to the last target position

UINT16

RO

0x0000 (0dec)

0x1006 Additive (Change): Change during an active travel command

UINT16

RO

0x0000 (0dec)

0x6000 Calibration, PLC cam: Calibration with cam

UINT16

RO

0x0000 (0dec)

0x6100 Calibration, HW sync: Calibration with cam and C-track

UINT16

RO

0x0000 (0dec)

0x6E00 Calibration, set manual: Set calibration manually

UINT16

RO

0x0000 (0dec)

0x6E01 Calibration, set manual auto: Set automatic calibration, for "Enable = 1"

UINT16

RO

0x0000 (0dec)

0x6F00 Calibration, clear manual: Clear calibration manually

UINT16

RO

0x0000 (0dec)

7021:23

Acceleration

Acceleration specification

UINT16

RO

0x0000 (0dec)

7021:24

Deceleration

Deceleration specification

UINT16

RO

0x0000 (0dec)

Index F081 Download revision

Index (hex)

Name

Meaning

Data type

Flags

Default

F081:0

Download revision

Reserved

UINT8

RO

0x01 (1dec)

F081:01

Revision number

Reserved

UINT32

RW

0x00000000 (0dec)

Index 9010 STM Info data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

9010:0

STM Info data Ch.1

Maximum subindex

UINT8

RO

0x08 (8dec)

9010:01

Status word

Status word (see index 0xA010)

UINT16

RO

0x0000 (0dec)

9010:02

Motor coil voltage A

Motor voltage coil A (unit 1 mV)

UINT16

RO

0x0000 (0dec)

9010:03

Motor coil voltage B

Motor voltage coil B (unit 1 mV)

UINT16

RO

0x0000 (0dec)

9010:04

Motor coil current A

Motor current coil A (unit 1 mA)

INT16

RO

0x0000 (0dec)

9010:05

Motor coil current B

Motor current coil B (unit 1 mA)

INT16

RO

0x0000 (0dec)

9010:06

Duty cycle A

Duty cycle coil A (unit 1%)

INT8

RO

0x00 (0dec)

9010:07

Duty cycle B

Duty cycle coil B (unit 1%)

INT8

RO

0x00 (0dec)

9010:08

Motor velocity

Current velocity (value range +/- 10000)

INT16

RO

0x0000 (0dec)

Index 9020 POS Info data Ch.1

Index

Name

Meaning

Data type

Flags

Default value

9020:0

POS Info data Ch.1

Maximum subindex

UINT8

RO

0x04 (4dec)

9020:03

State (drive controller)

permitted values:

UINT16

RO

0x0000 (0dec)

0: Init

1: Idle

272: Go cam

273: On cam

16: Start

17: Acceleration

18: Constant

19: Deceleration

288: Go sync impulse

289: Leave cam

4096: Pre target

4097: In target

32: Emergency Stop

33: Normal stop

304: Calibration stop

8192: Drive end

8193: Wait for init

320: Is calibrated

321: Not calibrated

16384: Drive warning

32768: Error

65535: Undefined

256: Calibration start

9020:04

Actual position lag

Current step error

INT32

RO

0x00000000 (0dec)

Index A010 STM Diag data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

A010:0

STM Diag data Ch.1

Maximum subindex

UINT8

RO

0x11 (17dec)

A010:01

Saturated

Driver stage operates with maximum duty cycle

BOOLEAN

RO

0x00 (0dec)

A010:02

Over temperature

Internal terminal temperature is higher than 80°C (see subindex 0xF80F:04)

BOOLEAN

RO

0x00 (0dec)

A010:03

Torque overload

Motor current is higher than the rated current

BOOLEAN

RO

0x00 (0dec)

A010:04

Under voltage

Motor supply voltage is 20% lower than the configured rated voltage (warning) or motor supply voltage is lower than 8 V (error, see 0xA010:09)

BOOLEAN

RO

0x00 (0dec)

A010:05

Over voltage

Motor supply voltage is 10% higher than the configured nominal voltage

BOOLEAN

RO

0x00 (0dec)

A010:06

Short circuit A

Short circuit in motor coil A

BOOLEAN

RO

0x00 (0dec)

A010:07

Short circuit B

Short circuit in motor coil B

BOOLEAN

RO

0x00 (0dec)

A010:08

No control power

Control voltage at the power contacts is less than 12 V

BOOLEAN

RO

0x00 (0dec)

A010:09

Misc error

Initialization of the terminal failed or supply voltage is lower than 8 V or
internal temperature of the terminal is higher than 100°C (see Subindex 0xF80F:05)

BOOLEAN

RO

0x00 (0dec)

A010:11

Actual operation mode

Current operation mode (relevant for activated automatic mode, see 0x8012:01)

BIT4

RO

0x00 (0dec)

Index A020 POS Diag data Ch.1

Index

Name

Meaning

Data type

Flags

Default value

A020:0

POS Diag data Ch.1

Maximum subindex

UINT8

RO

0x06 (6dec)

A020:01

Command rejected

Travel command was rejected

BOOLEAN

RO

0x00 (0dec)

A020:02

Command aborted

Travel command was aborted

BOOLEAN

RO

0x00 (0dec)

A020:03

Target overrun

Target position was overrun in the opposite direction

BOOLEAN

RO

0x00 (0dec)

A020:04

Target timeout

The target window was not reached within the in-target timeout

BOOLEAN

RO

0x00 (0dec)

A020:05

Position lag

The maximum following error was exceeded

BOOLEAN

RO

0x00 (0dec)

A020:06

Emergency Stop

An emergency stop was triggered (automatic or manual)

BOOLEAN

RO

0x00 (0dec)

Index F000 Modular device profile

Index (hex)

Name

Meaning

Data type

Flags

Default

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0002 (2dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index (hex)

Name

Meaning

Data type

Flags

Default

F010:0

Module list

Maximum subindex

UINT8

RW

0x02 (2dec)

F010:01

SubIndex 001

Profile number of the encoder interface

UINT32

RW

0x000001FF (511dec)

F010:02

SubIndex 002

Profile number of the stepper motor interface

UINT32

RW

0x000002BF (703dec)

Index F80F STM Vendor data

Index (hex)

Name

Meaning

Data type

Flags

Default

F80F:0

STM Vendor data

Maximum subindex

UINT8

RO

0x08 (8dec)

F80F:01

PWM Frequency

DC link frequency (unit: 1 Hz)

UINT16

RW

0x7530 (30000dec)

F80F:02

Deadtime

Dead time for pulse width modulation

UINT16

RW

0x0102 (258dec)

F80F:03

Deadtime space

Duty cycle limitation

UINT16

RW

0x0009 (9dec)

F80F:04

Warning temperature

Threshold for temperature warning (unit: 1°C, see subindex 0xA010:02)

INT8

RW

0x50 (80dec)

F80F:05

Switch off temperature

Switch-off temperature (unit: 1°C)

INT8

RW

0x64 (100dec)

F80F:06

Analog trigger point

Trigger point for AD conversion

UINT16

RW

0x000A (10dec)

F80F:07

Calibration offset A

Current measurement offset calibration for coil A (set by the manufacturer)

INT16

RW

0x0000 (0dec)

F80F:08

Calibration offset B

Current measurement offset calibration for coil B (set by the manufacturer)

INT16

RW

0x0000 (0dec)

Index F900 STM Info data

Index (hex)

Name

Meaning

Data type

Flags

Default

F900:0

STM Info data

Maximum subindex

UINT8

RO

0x06 (6dec)

F900:01

Software version (driver)

Software version of the driver card

STRING

RO

{0}

F900:02

Internal temperature

Internal terminal temperature (unit: 1℃)

INT8

RO

0x00 (0dec)

F900:04

Control voltage

Control voltage (unit: 1 mV)

UINT16

RO

0x0000 (0dec)

F900:05

Motor supply voltage

Motor supply voltage (unit: 1 mV)

UINT16

RO

0x0000 (0dec)

F900:06

Cycle time

Measured cycle time (unit: 1 µs)

UINT16

RO

0x0000 (0dec)