Profile-specific objects (0x6000-0xFFFF)

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

Index 6000 AI Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

6000:0

AI Inputs Ch.1

 

UINT8

RO

0x11 (17dec)

6000:01

Underrange

Underrange event active

BOOLEAN

RO

0x00 (0dec)

6000:02

Overrange

Overrange event active

BOOLEAN

RO

0x00 (0dec)

6000:03

Limit 1

Bit0: Value greater than Limit1 Bit1: Value smaller than Limit1

BIT2

RO

0x00 (0dec)

6000:05

Limit 2

Bit0: Value greater than Limit2 Bit1: Value smaller than Limit2

BIT2

RO

0x00 (0dec)

6000:07

Error

Bit set when Over- or Underrange

BOOLEAN

RO

0x00 (0dec)

6000:0E

Sync error

 

BOOLEAN

RO

0x00 (0dec)

6000:0F

TxPDO State

 

BOOLEAN

RO

0x00 (0dec)

6000:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6000:11

Value

 

INT16

RO

0x0000 (0dec)

Index 6010 AI Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

6010:0

AI Inputs Ch.2

 

UINT8

RO

0x11 (17dec)

6010:01

Underrange

Underrange event active

BOOLEAN

RO

0x00 (0dec)

6010:02

Overrange

Overrange event active

BOOLEAN

RO

0x00 (0dec)

6010:03

Limit 1

Bit0: Value greater than Limit1 Bit1: Value smaller than Limit1

BIT2

RO

0x00 (0dec)

6010:05

Limit 2

Bit0: Value greater than Limit2 Bit1: Value smaller than Limit2

BIT2

RO

0x00 (0dec)

6010:07

Error

Bit set when Over- or Underrange

BOOLEAN

RO

0x00 (0dec)

6010:0E

Sync error

 

BOOLEAN

RO

0x00 (0dec)

6010:0F

TxPDO State

 

BOOLEAN

RO

0x00 (0dec)

6010:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6010:11

Value

 

INT16

RO

0x0000 (0dec)

Index 6020 TACHO Dual Shaft Mode Input Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

6020:0

TACHO Dual Shaft Mode Input Ch.1

 

UINT8

RO

0x11 (17dec)

6020:01

Digital input

 

BOOLEAN

RO

0x00 (0dec)

6020:0C

Speed Below Threshold

 

BOOLEAN

RO

0x00 (0dec)

6020:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6020:11

Rotational Speed

 

INT16

RO

0x0000 (0dec)

Index 6030 TACHO Dual Shaft Mode Input Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

6030:0

TACHO Dual Shaft Mode Input Ch.2

 

UINT8

RO

0x11 (17dec)

6030:01

Digital input

 

BOOLEAN

RO

0x00 (0dec)

6030:0C

Speed Below Threshold

 

BOOLEAN

RO

0x00 (0dec)

6030:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6030:11

Rotational Speed

 

INT16

RO

0x0000 (0dec)

Index 6037 TACHO Single Shaft Mode Input

Index (hex)

Name

Meaning

Data type

Flags

Default

6037:0

TACHO Single Shaft Mode Input

 

UINT8

RO

0x12 (18dec)

6037:02

Error Input A

 

BOOLEAN

RO

0x00 (0dec)

6037:03

Input Status A

 

BOOLEAN

RO

0x00 (0dec)

6037:04

Error Input B

 

BOOLEAN

RO

0x00 (0dec)

6037:05

Input Status B

 

BOOLEAN

RO

0x00 (0dec)

6037:0C

Speed Below Threshold

 

BOOLEAN

RO

0x00 (0dec)

6037:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6037:11

Rotational Speed

 

INT16

RO

0x0000 (0dec)

6037:12

Rotation Direction

 

UINT16

RO

0x0000 (0dec)

Index 6040 DI Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

6040:0

DI Inputs

 

UINT8

RO

0x06 (6dec)

6040:01

Digital Input X4 Pin4

 

BOOLEAN

RO

0x00 (0dec)

6040:02

Digital Input X4 Pin2

 

BOOLEAN

RO

0x00 (0dec)

6040:03

Digital Input X6 Pin4

 

BOOLEAN

RO

0x00 (0dec)

6040:04

Digital Input X6 Pin2

 

BOOLEAN

RO

0x00 (0dec)

6040:05

Digital Input X7 Pin4

 

BOOLEAN

RO

0x00 (0dec)

6040:06

Digital Input X7 Pin2

 

BOOLEAN

RO

0x00 (0dec)

Index 6060 PWM Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

6060:0

PWM Inputs

 

UINT8

RO

0x12 (18dec)

6060:05

Ready to enable

 

BOOLEAN

RO

0x00 (0dec)

6060:06

Warning

 

BOOLEAN

RO

0x00 (0dec)

6060:07

Error

 

BOOLEAN

RO

0x00 (0dec)

6060:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6060:11

Info data 1

 

INT16

RO

0x0000 (0dec)

6060:12

Info data 2

 

INT16

RO

0x0000 (0dec)

Index 7020 TACHO Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

7020:0

TACHO Outputs

 

UINT8

RO

0x09 (9dec)

7020:09

Reset Error

 

BOOLEAN

RO

0x00 (0dec)

Index 7030 TACHO Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

7030:0

TACHO Outputs

 

UINT8

RO

0x09 (9dec)

7030:09

Reset Error

 

BOOLEAN

RO

0x00 (0dec)

Index 7040 DIG Output

Index (hex)

Output 11>Name

Meaning

Data type

Flags

Default

7050:0

DIG Outputs

 

UINT8

RO

0x06 (6dec)

7050:01

Digital Output X4 Pin4

 

BOOLEAN

RO

0x00 (0dec)

7050:02

Digital Output X4 Pin2

 

BOOLEAN

RO

0x00 (0dec)

7050:03

Digital Output X5 Pin4

 

BOOLEAN

RO

0x00 (0dec)

7050:04

Digital Output X5 Pin2

 

BOOLEAN

RO

0x00 (0dec)

7050:05

Digital Output X6 Pin4

 

BOOLEAN

RO

0x00 (0dec)

7050:06

Digital Output X6 Pin2

 

BOOLEAN

RO

0x00 (0dec)

7050:07

Digital Output X7 Pin4

 

BOOLEAN

RO

0x00 (0dec)

7050:08

Digital Output X7 Pin2

 

BOOLEAN

RO

0x00 (0dec)

Index 7060 PWM Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

7060:0

PWM Outputs

 

UINT8

RO

0x11 (17dec)

7060:01

Enable dithering

 

BOOLEAN

RO

0x00 (0dec)

7060:06

Enable

 

BOOLEAN

RO

0x00 (0dec)

7060:07

Reset

 

BOOLEAN

RO

0x00 (0dec)

7060:11

PWM output

Analog output data

INT16

RO

0x0000 (0dec)

Index 7070 AO Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

7070:0

AO Outputs

 

UINT8

RO

0x11 (17dec)

7070:11

Analog output

Analog output data

INT16

RO

0x0000 (0dec)

Index 800E AI Internal data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

800E:0

AI Internal data Ch.1

 

UINT8

RO

0x01 (1dec)

800E:01

ADC raw value

 

INT16

RO

0x0000 (0dec)

Index 800F AI Vendor data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

800F:0

AI Vendor data Ch.1

 

UINT8

RO

0x06 (6dec)

800F:01

R0 Offset

 

INT16

RW

0x0000 (0dec)

800F:02

R0 Gain

 

INT16

RW

0x4000 (16384dec)

800F:03

R1 Offset

 

INT16

RW

0x0000 (0dec)

800F:04

R1 Gain

 

INT16

RW

0x4000 (16384dec)

800F:05

R2 Offset

 

INT16

RW

0x0000 (0dec)

800F:06

R2 Gain

 

INT16

RW

0x4000 (16384dec)

Index 801E AI Internal data Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

801E:0

AI Internal Data Ch.2

 

UINT8

RO

0x01 (1dec)

801E:01

ADC raw value

 

INT16

RO

0x0000 (0dec)

Index 801F AI Vendor data Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

801F:0

AI Vendor Data Ch.2

 

UINT8

RO

0x06 (6dec)

801F:01

R0 Offset

 

INT16

RW

0x0000 (0dec)

801F:02

R0 Gain

 

INT16

RW

0x4000 (16384dec)

801F:03

R1 Offset

 

INT16

RW

0x0000 (0dec)

801F:04

R1 Gain

 

INT16

RW

0x4000 (16384dec)

801F:05

R2 Offset

 

INT16

RW

0x0000 (0dec)

801F:06

R2 Gain

 

INT16

RW

0x4000 (16384dec)

Index 805F PWM Vendor data

Index (hex)

Name

Meaning

Data type

Flags

Default

805F:0

PWM Vendor data

 

UINT8

RO

0x02 (2dec)

805F:01

Offset

Vendor calibration for +/-10 V

INT16

RW

0x0000 (0dec)

805F:02

Gain

Vendor calibration for +/-10 V

INT16

RW

0x4000 (16384dec)

Index 806E AO Internal data

Index (hex)

Name

Meaning

Data type

Flags

Default

806E:0

AO Internal Data

 

UINT8

RO

0x01 (1dec)

806E:01

DAC Raw Value

This is the raw DAC value.

UINT16

RO

0x0000 (0dec)

Index 806F AO Vendor data

Index (hex)

Name

Meaning

Data type

Flags

Default

806F:0

AO Vendor Data

 

UINT8

RO

0x06 (6dec)

806F:01

R0 Calibration Offset

Vendor calibration for +/-10 V

INT16

RW

0x0000 (0dec)

806F:02

R0 Calibration Gain

Vendor calibration for +/-10 V

UINT16

RW

0x4000 (16384dec)

806F:03

R1 Calibration Offset

Vendor calibration for 0-20 mA

INT16

RW

0x0000 (0dec)

806F:04

R1 Calibration Gain

Vendor calibration for 0-20 mA

UINT16

RW

0x4000 (16384dec)

806F:05

R2 Calibration Offset

Vendor calibration for 4-20 mA

INT16

RW

0x0000 (0dec)

806F:06

R2 Calibration Gain

Vendor calibration for 4-20 mA

UINT16

RW

0x4000 (16384dec)

Index A060 PWM Diag data

Index (hex)

Name

Meaning

Data type

Flags

Default

A060:0

PWM Diag data

 

UINT8

RO

0x06 (6dec)

A060:02

Overtemperature

 

BOOLEAN

RO

0x00 (0dec)

A060:06

Short circuit

 

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

0x0008 (8dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

 

UINT32

RW

0x00000000 (0dec)

Index F010 Module List

Index (hex)

Name

Meaning

Data type

Flags

Default

F010:0

Module list

 

UINT8

RW

0x08 (8dec)

F010:01

SubIndex 001

 

UINT32

RW

0x0000012C (300dec)

F010:02

SubIndex 002

 

UINT32

RW

0x0000012C (300dec)

F010:03

SubIndex 003

 

UINT32

RW

0x00000208 (520dec)

F010:04

SubIndex 004

 

UINT32

RW

0x00000208 (520dec)

F010:05

SubIndex 005

 

UINT32

RW

0x00000064 (100dec)

F010:06

SubIndex 006

 

UINT32

RW

0x000000C8 (200dec)

F010:07

SubIndex 007

 

UINT32

RW

0x000000FA (250dec)

F010:08

SubIndex 008

 

UINT32

RW

0x00000190 (400dec)

Index F900 PWM Info data

Index (hex)

Name

Meaning

Data type

Flags

Default

F900:0

PWM Info data

 

UINT8

RO

0x02 (2dec)

F900:02

Temperature [°C]

 

UINT8

RO

0x00 (0dec)

Index FB00 PWM Command

Index (hex)

Name

Meaning

Data type

Flags

Default

FB00:0

PWM Command

 

UINT8

RO

0x03 (3dec)

FB00:01

Request

 

OCTET-STRING[2]

RW

{0}

FB00:02

Status

 

UINT8

RO

0x00 (0dec)

FB00:03

Response

 

OCTET STRING[4]

RO

{0}