Object description and parameterization

	EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.

	Parameterization via the CoE list (CAN over EtherCAT) The EtherCAT device is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (allocation of PDOs).

Introduction

The CoE overview contains objects for different intended applications:

Objects required for parameterization during commissioning
Objects intended for regular operation, e.g. through ADS access
Objects for indicating internal settings (may be fixed)
Further profile-specific objects indicating inputs, outputs and status information

The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.

Objects to be parameterized during commissioning

Index 1011 Restore default parameters

Index (hex)	Name	Meaning	Data type	Flags	Default
1011:0	Restore default parameters	Restore default parameters	UINT8	RO	0x01 (1_dec)
1011:01	SubIndex 001	If this object is set to “0x64616F6C” in the set value dialog, all backup objects are reset to their delivery state.	UINT32	RW	0x00000000 (0_dec)

Index 8000 AI Settings (parameterization of channel 1)

Index (hex)	Name	Meaning		Data type	Flags	Default
8000:0	AI Settings	Maximum subindex		UINT8	RO	0x18 (24_dec)
8000:01	Enable user scale	1	User scale is active.	BOOLEAN	RW	0x00 (0_dec)
8000:02	Presentation	0	Signed presentation	BIT3	RW	0x00 (0_dec)
		1	Unsigned presentation
		2	Absolute value with MSB as sign (signed amount representation)
8000:05	Siemens bits	1	Status indicators are displayed on the lowest 3 bits in the status word.	BOOLEAN	RW	0x00 (0_dec)
8000:06	Enable filter	1	Enable filter, which makes PLC-cycle-synchronous data exchange unnecessary	BOOLEAN	RW	0x01 (1_dec)
8000:07	Enable limit 1	1	Limit 1 enabled	BOOLEAN	RW	0x00 (0_dec)
8000:08	Enable limit 2	1	Limit 2 enabled	BOOLEAN	RW	0x00 (0_dec)
8000:0A	Enable user calibration	1	Enabling of the user calibration	BOOLEAN	RW	0x00 (0_dec)
8000:0B	Enable vendor calibration	1	Enabling of the vendor calibration	BOOLEAN	RW	0x01 (1_dec)
8000:0E	Swap limit bits	1	Swaps the two limit bits, in order to achieve compatibility with older hardware versions.	BOOLEAN	RW	0x00 (0_dec)
8000:11	User scale offset	User scale offset		INT16	RW	0x0000 (0_dec)
8000:12	User scale gain	User scale gain. The gain is represented in fixed-point format, with the factor 2^-16. The value 1 corresponds to 65535_dec (0x00010000_hex) and is limited to +/- 0x7FFFF		INT32	RW	0x00010000 (65536_dec)
8000:13	Limit 1	First limit value for setting the status bits		INT16	RW	0x0000 (0_dec)
8000:14	Limit 2	Second limit value for setting the status bits		INT16	RW	0x0000 (0_dec)
8000:15	Filter settings	This object determines the digital filter settings for all channels of the module, if it is activated via Enable filter (index 0x80n0:06). The possible settings are sequentially numbered.		UINT16	RW	0x0000 (0_dec)
		0	50 Hz FIR
		1	60 Hz FIR
		2	IIR 1
		3	IIR 2
		4	IIR 3
		5	IIR 4
		6	IIR 5
		7	IIR 6
		8	IIR 7
		9	IIR 8
8000:17	User calibration offset	User calibration: Offset		INT16	RW	0x0000 (0_dec)
8000:18	User calibration gain	User calibration: Gain		INT16	RW	0x0000 (0_dec)

Index 8010 AI Settings (parameterization of channel 2)

Index (hex)	Name	Meaning		Data type	Flags	Default
8010:0	AI Settings	Maximum subindex		UINT8	RO	0x18 (24_dec)
8010:01	Enable user scale	1	User scale is active.	BOOLEAN	RW	0x00 (0_dec)
8010:02	Presentation	0	Signed presentation	BIT3	RW	0x00 (0_dec)
		1	Unsigned presentation
		2	Absolute value with MSB as sign (signed amount representation)
8010:05	Siemens bits	1	Status indicators are displayed on the lowest 3 bits in the status word.	BOOLEAN	RW	0x00 (0_dec)
8010:06	Enable filter	1	Enable filter, which makes PLC-cycle-synchronous data exchange unnecessary	BOOLEAN	RW	0x01 (1_dec)
8010:07	Enable limit 1	1	Limit 1 enabled	BOOLEAN	RW	0x00 (0_dec)
8010:08	Enable limit 2	1	Limit 2 enabled	BOOLEAN	RW	0x00 (0_dec)
8010:0A	Enable user calibration	1	Enables user calibration	BOOLEAN	RW	0x00 (0_dec)
8010:0B	Enable vendor calibration	1	Enable vendor calibration	BOOLEAN	RW	0x01 (1_dec)
8010:0E	Swap limit bits	1	Swaps the two limit bits, in order to achieve compatibility with older hardware versions.	BOOLEAN	RW	0x00 (0_dec)
8010:11	User scale offset	User scale offset		INT16	RW	0x0000 (0_dec)
8010:12	User scale gain	User scale gain. The gain is represented in fixed-point format, with the factor 2^-16. The value 1 corresponds to 65535_dec (0x00010000_hex) and is limited to +/- 0x7FFFF		INT32	RW	0x00010000 (65536_dec)
8010:13	Limit 1	First limit value for setting the status bits		INT16	RW	0x0000 (0_dec)
8010:14	Limit 2	Second limit value for setting the status bits		INT16	RW	0x0000 (0_dec)
8010:15	Filter settings	This object shows the digital filter settings. The filter settings can only be read here. They are set via channel 1 for all channels of the module.		UINT16	RW	0x0000 (0_dec)
		0	50 Hz FIR
		1	60 Hz FIR
		2	IIR 1
		3	IIR 2
		4	IIR 3
		5	IIR 4
		6	IIR 5
		7	IIR 6
		8	IIR 7
		9	IIR 8
8010:17	User calibration offset	User calibration: Offset		INT16	RW	0x0000 (0_dec)
8010:18	User calibration gain	User calibration: Gain		INT16	RW	0x0000 (0_dec)

Index 8020 AI Settings (parameterization of channel 3)

Index (hex)	Name	Meaning		Data type	Flags	Default
8020:0	AI Settings	Maximum subindex		UINT8	RO	0x18 (24_dec)
8020:01	Enable user scale	1	User scale is active.	BOOLEAN	RW	0x00 (0_dec)
8020:02	Presentation	0	Signed presentation	BIT3	RW	0x00 (0_dec)
		1	Unsigned presentation
		2	Absolute value with MSB as sign (signed amount representation)
8020:05	Siemens bits	1	Status indicators are displayed on the lowest 3 bits in the status word.	BOOLEAN	RW	0x00 (0_dec)
8020:06	Enable filter	1	Enable filter, which makes PLC-cycle-synchronous data exchange unnecessary	BOOLEAN	RW	0x01 (1_dec)
8020:07	Enable limit 1	1	Limit 1 enabled	BOOLEAN	RW	0x00 (0_dec)
8020:08	Enable limit 2	1	Limit 2 enabled	BOOLEAN	RW	0x00 (0_dec)
8020:0A	Enable user calibration	1	Enables user calibration	BOOLEAN	RW	0x00 (0_dec)
8020:0B	Enable vendor calibration	1	Enable vendor calibration	BOOLEAN	RW	0x01 (1_dec)
8020:0E	Swap limit bits	1	Swaps the two limit bits, in order to achieve compatibility with older hardware versions.	BOOLEAN	RW	0x00 (0_dec)
8020:11	User scale offset	User scale offset		INT16	RW	0x0000 (0_dec)
8020:12	User scale gain	User scale gain. The gain is represented in fixed-point format, with the factor 2^-16. The value 1 corresponds to 65535_dec (0x00010000_hex) and is limited to +/- 0x7FFFF		INT32	RW	0x00010000 (65536_dec)
8020:13	Limit 1	First limit value for setting the status bits		INT16	RW	0x0000 (0_dec)
8020:14	Limit 2	Second limit value for setting the status bits		INT16	RW	0x0000 (0_dec)
8020:15	Filter settings	This object shows the digital filter settings. The filter settings can only be read here. They are set via channel 1 for all channels of the module.		UINT16	RW	0x0000 (0_dec)
		0	50 Hz FIR
		1	60 Hz FIR
		2	IIR 1
		3	IIR 2
		4	IIR 3
		5	IIR 4
		6	IIR 5
		7	IIR 6
		8	IIR 7
		9	IIR 8
8020:17	User calibration offset	User calibration: Offset		INT16	RW	0x0000 (0_dec)
8020:18	User calibration gain	User calibration: Gain		INT16	RW	0x0000 (0_dec)

Index 8030 AI Settings (parameterization of channel 4)

Index (hex)	Name	Meaning		Data type	Flags	Default
8030:0	AI Settings	Maximum subindex		UINT8	RO	0x18 (24_dec)
8030:01	Enable user scale	1	User scale is active.	BOOLEAN	RW	0x00 (0_dec)
8030:02	Presentation	0	Signed presentation	BIT3	RW	0x00 (0_dec)
		1	Unsigned presentation
		2	Absolute value with MSB as sign (signed amount representation)
8030:05	Siemens bits	1	Status indicators are displayed on the lowest 3 bits in the status word.	BOOLEAN	RW	0x00 (0_dec)
8030:06	Enable filter	1	Enable filter, which makes PLC-cycle-synchronous data exchange unnecessary	BOOLEAN	RW	0x01 (1_dec)
8030:07	Enable limit 1	1	Limit 1 enabled	BOOLEAN	RW	0x00 (0_dec)
8030:08	Enable limit 2	1	Limit 2 enabled	BOOLEAN	RW	0x00 (0_dec)
8030:0A	Enable user calibration	1	Enables user calibration	BOOLEAN	RW	0x00 (0_dec)
8030:0B	Enable vendor calibration	1	Enable vendor calibration	BOOLEAN	RW	0x01 (1_dec)
8030:0E	Swap limit bits	1	Swaps the two limit bits, in order to achieve compatibility with older hardware versions.	BOOLEAN	RW	0x00 (0_dec)
8030:11	User scale offset	User scale offset		INT16	RW	0x0000 (0_dec)
8030:12	User scale gain	User scale gain. The gain is represented in fixed-point format, with the factor 2^-16. The value 1 corresponds to 65535_dec (0x00010000_hex) and is limited to +/- 0x7FFFF		INT32	RW	0x00010000 (65536_dec)
8030:13	Limit 1	First limit value for setting the status bits		INT16	RW	0x0000 (0_dec)
8030:14	Limit 2	Second limit value for setting the status bits		INT16	RW	0x0000 (0_dec)
8030:15	Filter settings	This object shows the digital filter settings. The filter settings can only be read here. They are set via channel 1 for all channels of the module.		UINT16	RW	0x0000 (0_dec)
		0	50 Hz FIR
		1	60 Hz FIR
		2	IIR 1
		3	IIR 2
		4	IIR 3
		5	IIR 4
		6	IIR 5
		7	IIR 6
		8	IIR 7
		9	IIR 8
8030:17	User calibration offset	User calibration: Offset		INT16	RW	0x0000 (0_dec)
8030:18	User calibration gain	User calibration: Gain		INT16	RW	0x0000 (0_dec)

Index F800 AI Range Settings

Index (hex)	Name	Meaning		Data type	Flags	Default
F800:0	AI Range Settings	Maximum subindex		UINT8	RO	0x04 (4_dec)
F800:01	Input type Ch1	Input signal range for channel 1		UINT16	RW	0x0000 (0_dec)
		0	-10 V...+10 V
		1	0 mA...20 mA
		2	4 mA...20 mA
		6	0 V...10 V
F800:02	Input type Ch2	Input signal range for channel 2 (values see channel 1)		UINT16	RW	0x0000 (0_dec)
F800:03	Input type Ch3	Input signal range for channel 3 (values see channel 1)		UINT16	RW	0x0000 (0_dec)
F800:04	Input type Ch4	Input signal range for channel 4 (values see channel 1)		UINT16	RW	0x0000 (0_dec)
F800:05	Enable Filter Settings Per Channel			BOOLEAN	RW	-

Standard objects (0x1000-0x1FFF)

The standard objects have the same meaning for all EtherCAT slaves.

Index 1000 Device type

Index (hex)	Name	Meaning	Data type	Flags	Default
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	0x012C1389 (19665801_dec)

Index 1008 Device name

Index (hex)	Name	Meaning	Data type	Flags	Default
1008:0	Device name	Device name of the EtherCAT slave	STRING	RO	EPP3174-0002, EPP3184-0002,

Index 1009 Hardware version

Index (hex)	Name	Meaning	Data type	Flags	Default
1009:0	Hardware version	Hardware version of the EtherCAT slave	STRING	RO	01

Index 100A Software Version

Index (hex)	Name	Meaning	Data type	Flags	Default
100A:0	Software version	Firmware version of the EtherCAT slave	STRING	RO	01

Index 1018 Identity

Index (hex)	Name	Meaning	Data type	Flags	Default
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	EPP3174-0002 0x0C664052 (208027730_dec) EPP3184-0002 0x64768D09 (168540953_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	0x00000000 (0_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)

Index 10F0 Backup parameter handling

Index (hex)	Name	Meaning	Data type	Flags	Default
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)

Index 1800 AI TxPDO-Par Standard Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1800:0	AI TxPDO-Par Standard Ch.1	PDO parameter TxPDO 1	UINT8	RO	0x06 (6_dec)
1800:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1	OCTET-STRING[2]	RO	01 1A

Index 1801 AI TxPDO-Par Compact Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1801:0	AI TxPDO-Par Compact Ch.1	PDO parameter TxPDO 2	UINT8	RO	0x06 (6_dec)
1801:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2	OCTET-STRING[2]	RO	00 1A

Index 1802 AI TxPDO-Par Standard Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1802:0	AI TxPDO-Par Standard Ch.2	PDO parameter TxPDO 3	UINT8	RO	0x06 (6_dec)
1802:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 3	OCTET-STRING[2]	RO	03 1A

Index 1803 AI TxPDO-Par Compact Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1803:0	AI TxPDO-Par Compact Ch.2	PDO parameter TxPDO 4	UINT8	RO	0x06 (6_dec)
1803:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4	OCTET-STRING[2]	RO	02 1A

Index 1804 AI TxPDO-Par Standard Ch.3

Index (hex)	Name	Meaning	Data type	Flags	Default
1804:0	AI TxPDO-Par Standard Ch.3	PDO parameter TxPDO 5	UINT8	RO	0x06 (6_dec)
1804:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 5	OCTET-STRING[2]	RO	05 1A

Index 1805 AI TxPDO-Par Compact Ch.3

Index (hex)	Name	Meaning	Data type	Flags	Default
1805:0	AI TxPDO-Par Compact Ch.3	PDO parameter TxPDO 6	UINT8	RO	0x06 (6_dec)
1805:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 6	OCTET-STRING[2]	RO	04 1A

Index 1806 AI TxPDO-Par Standard Ch.4

Index (hex)	Name	Meaning	Data type	Flags	Default
1806:0	AI TxPDO-Par Standard Ch.4	PDO parameter TxPDO 7	UINT8	RO	0x06 (6_dec)
1806:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 7	OCTET-STRING[2]	RO	07 1A

Index 1807 AI TxPDO-Par Compact Ch.4

Index (hex)	Name	Meaning	Data type	Flags	Default
1807:0	AI TxPDO-Par Compact Ch.4	PDO parameter TxPDO 8	UINT8	RO	0x06 (6_dec)
1807:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 8	OCTET-STRING[2]	RO	06 1A

Index 1A00 AI TxPDO-Map Standard Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A00:0	AI TxPDO-Map Standard Ch.1	PDO Mapping TxPDO 1	UINT8	RO	0x0B (11_dec)
1A00:01	SubIndex 001	1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x01 (Underrange))	UINT32	RO	0x6000:01, 1
1A00:02	SubIndex 002	2. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x02 (Overrange))	UINT32	RO	0x6000:02, 1
1A00:03	SubIndex 003	3. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x03 (Limit 1))	UINT32	RO	0x6000:03, 2
1A00:04	SubIndex 004	4. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x05 (Limit 2))	UINT32	RO	0x6000:05, 2
1A00:05	SubIndex 005	5. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x07 (Error))	UINT32	RO	0x6000:07, 1
1A00:06	SubIndex 006	6. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A00:07	SubIndex 007	7. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 5
1A00:08	SubIndex 008	8. PDO Mapping entry (object 0x1C32, entry 0x20)	UINT32	RO	0x6000:0E, 1
1A00:09	SubIndex 009	9. PDO Mapping entry (object 0x1800 (AI TxPDO-Par Standard Ch.1), entry 0x07 (TxPDO State))	UINT32	RO	0x6000:0F, 1
1A00:0A	SubIndex 010	10. PDO Mapping entry (object 0x1800 (AI TxPDO-Par Standard Ch.1), entry 0x09 (TxPDO Toggle))	UINT32	RO	0x6000:10, 1
1A00:0B	SubIndex 011	11. PDO Mapping entry (object 0x1800 (AI TxPDO-Par Standard Ch.1), entry 0x09 (TxPDO Toggle))	UINT32	RO	0x6000:11, 16

Index 1A01 AI TxPDO-Map Compact Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A01:0	AI TxPDO-Map Compact Ch.1	PDO Mapping TxPDO 2	UINT8	RO	0x01 (1_dec)
1A01:01	SubIndex 001	1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value))	UINT32	RO	0x6000:11, 16

Index 1A02 AI TxPDO-Map Standard Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A02:0	AI TxPDO-Map Standard Ch.2	PDO Mapping TxPDO 3	UINT8	RO	0x0B (11_dec)
1A02:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x01 (Underrange))	UINT32	RO	0x6010:01, 1
1A02:02	SubIndex 002	2. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x02 (Overrange))	UINT32	RO	0x6010:02, 1
1A02:03	SubIndex 003	3. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x03 (Limit 1))	UINT32	RO	0x6010:03, 2
1A02:04	SubIndex 004	4. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x05 (Limit 2))	UINT32	RO	0x6010:05, 2
1A02:05	SubIndex 005	5. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x07 (Error))	UINT32	RO	0x6010:07, 1
1A02:06	SubIndex 006	6. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A02:07	SubIndex 007	7. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 6
1A02:08	SubIndex 008	8. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x0E (Sync error))	UINT32	RO	0x6010:0E, 1
1A02:09	SubIndex 009	9. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x0F (TxPDO State))	UINT32	RO	0x6010:0F, 1
1A02:0A	SubIndex 010	10. PDO Mapping entry (object 0x6010 (AI TxPDO-Par Standard Ch.2), entry 0x10 (TxPDO Toggle))	UINT32	RO	0x6010:10, 1
1A02:0B	SubIndex 011	11. PDO Mapping entry (object 0x6010 (AI TxPDO-Par Standard Ch.2), entry 0x11 (Value))	UINT32	RO	0x6010:11, 16

Index 1A03 AI TxPDO-Map Compact Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A03:0	AI TxPDO-Map Compact Ch.2	PDO Mapping TxPDO 4	UINT8	RO	0x01 (1_dec)
1A03:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x11 (Value))	UINT32	RO	0x6010:11, 16

Index 1A04 AI TxPDO-Map Standard Ch.3

Index (hex)	Name	Meaning	Data type	Flags	Default
1A04:0	AI TxPDO-Map Standard Ch.3	PDO Mapping TxPDO 5	UINT8	RO	0x0B (11_dec)
1A04:01	SubIndex 001	1. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x01 (Underrange))	UINT32	RO	0x6020:01, 1
1A04:02	SubIndex 002	2. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x02 (Overrange))	UINT32	RO	0x6020:02, 1
1A04:03	SubIndex 003	3. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x03 (Limit 1))	UINT32	RO	0x6020:03, 2
1A04:04	SubIndex 004	4. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x05 (Limit 2))	UINT32	RO	0x6020:05, 2
1A04:05	SubIndex 005	5. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x07 (Error))	UINT32	RO	0x6020:07, 1
1A04:06	SubIndex 006	6. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A04:07	SubIndex 007	7. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 5
1A04:08	SubIndex 008	8. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x0E (Sync error))	UINT32	RO	0x6020:0E, 1
1A04:09	SubIndex 009	9. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x0F (TxPDO State))	UINT32	RO	0x6020:0F, 1
1A04:0A	SubIndex 010	10. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x10 (TxPDO Toggle))	UINT32	RO	0x6020:10, 1
1A04:0B	SubIndex 011	11. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x11 (Value))	UINT32	RO	0x6020:11, 16

Index 1A05 AI TxPDO-Map Compact Ch.3

Index (hex)	Name	Meaning	Data type	Flags	Default
1A05:0	AI TxPDO-Map Compact Ch.3	PDO Mapping TxPDO 6	UINT8	RO	0x01 (1_dec)
1A05:01	SubIndex 001	1. PDO Mapping entry (object 0x6020 (AI Inputs), entry 0x11 (Value))	UINT32	RO	0x6020:11, 16

Index 1A06 AI TxPDO-Map Standard Ch.4

Index (hex)	Name	Meaning	Data type	Flags	Default
1A06:0	AI TxPDO-Map Standard Ch.4	PDO Mapping TxPDO 7	UINT8	RO	0x0B (11_dec)
1A06:01	SubIndex 001	1. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x01 (Underrange))	UINT32	RO	0x6030:01, 1
1A06:02	SubIndex 002	2. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x02 (Overrange))	UINT32	RO	0x6030:02, 1
1A06:03	SubIndex 003	3. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x03 (Limit 1))	UINT32	RO	0x6030:03, 2
1A06:04	SubIndex 004	4. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x05 (Limit 2))	UINT32	RO	0x6030:05, 2
1A06:05	SubIndex 005	5. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x07 (Error))	UINT32	RO	0x6030:07, 1
1A06:06	SubIndex 006	6. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A06:07	SubIndex 007	7. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 5
1A06:08	SubIndex 008	8. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x07 (Sync error))	UINT32	RO	0x6030:0E, 1
1A06:09	SubIndex 009	9. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x0F (TxPDO State))	UINT32	RO	0x6030:0F, 1
1A06:0A	SubIndex 010	10. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x10 (TxPDO Toggle))	UINT32	RO	0x6030:10, 1
1A06:0B	SubIndex 011	11. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x11 (Value))	UINT32	RO	0x6030:11, 16

Index 1A07 AI TxPDO-Map Compact Ch.4

Index (hex)	Name	Meaning	Data type	Flags	Default
1A07:0	AI TxPDO-Map Compact Ch.4	PDO Mapping TxPDO 8	UINT8	RO	0x01 (1_dec)
1A07:01	SubIndex 001	1. PDO Mapping entry (object 0x6030 (AI Inputs), entry 0x11 (Value))	UINT32	RO	0x6030:11, 16

Index 1C00 Sync manager type

Index (hex)	Name	Meaning	Data type	Flags	Default
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)

Index 1C12 RxPDO assign

Index (hex)	Name	Meaning	Data type	Flags	Default
1C12:0	RxPDO assign	PDO Assign Outputs	UINT8	RW	0x00 (0_dec)

Index 1C13 TxPDO assign

Index (hex)	Name	Meaning	Data type	Flags	Default
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	0x1A02 (6658_dec)
1C13:03	Subindex 003	3. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A04 (6660_dec)
1C13:04	Subindex 004	4. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A06 (6662_dec)

Index 1C33 SM input parameter

Index (hex)	Name	Meaning	Data type	Flags	Default
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	0x0022 (34_dec)
1C33:02	Cycle time		UINT32	RW	0x000F4240 (1000000_dec)
1C33:03	Shift time	Time between SYNC0 event and reading of the inputs (in ns, only DC mode)	UINT32	RO	0x00001388 (5000_dec)
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 0x1C33:08)	UINT16	RO	0xC00B (49163_dec)
1C33:05	Minimum cycle time		UINT32	RO	0x0003D090 (250000_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	0x00002710 (10000_dec)
1C33:07	Minimum delay time		UINT32	RO	0x00001388 (5000_dec)
1C33:08	Command		UINT16	RW	0x0000 (0_dec)
1C33:09	Maximum Delay time	Time between SYNC1 event and reading of the inputs (in ns, only DC mode)	UINT32	RO	0x00001388 (5000_dec)
1C33:0B	SM event missed counter		UINT16	RO	0x0000 (0_dec)
1C33:0C	Cycle exceeded counter		UINT16	RO	0x0000 (0_dec)
1C33:0D	Shift too short counter		UINT16	RO	0x0000 (0_dec)
1C33:20	Sync error		BOOLEAN	RO	0x00 (0_dec)

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

Index (hex)	Name	Meaning		Data type	Flags	Default
6000:0	AI inputs	Maximum subindex		UINT8	RO	0x11 (17_dec)
6000:01	Underrange	Is set if the value falls below the operating range of the sensor or the process data contains the lowest possible value.		BOOLEAN	RO	0x00 (0_dec)
6000:02	Overrange	Is set if the value exceeds the operating range of the sensor or the process data contains the highest possible value.		BOOLEAN	RO	0x00 (0_dec)
6000:03	Limit 1	Only when limit check is active		BIT2	RO	0x00 (0_dec)
		1	Value below set limit
		2	Set limit exceeded
		3	Set limit reached
6000:05	Limit 2	Only when limit check is active		BIT2	RO	0x00 (0_dec)
		1	Value below set limit
		2	Set limit exceeded
		3	Set limit reached
6000:07	Error	The error bit is set if the process data is invalid (wire breakage, overrange, underrange).		BOOLEAN	RO	0x00 (0_dec)
6000:0E	Sync error			BOOLEAN	RO	0x00 (0_dec)
6000:0F	TxPDO State	Validity of the data of the associated TxPDO		BOOLEAN	RO	0x00 (0_dec)
		0	valid
		1	invalid
6000:10	TxPDO Toggle	TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.		BOOLEAN	RO	0x00 (0_dec)
6000:11	Value	Analog input date		INT16	RO	0x0000 (0_dec)

Index 6010 AI Inputs

Index (hex)	Name	Meaning		Data type	Flags	Default
6010:0	AI inputs	Maximum subindex		UINT8	RO	0x11 (17_dec)
6010:01	Underrange	Is set if the value falls below the operating range of the sensor or the process data contains the lowest possible value.		BOOLEAN	RO	0x00 (0_dec)
6010:02	Overrange	Is set if the value exceeds the operating range of the sensor or the process data contains the highest possible value.		BOOLEAN	RO	0x00 (0_dec)
6010:03	Limit 1	Only when limit check is active		BIT2	RO	0x00 (0_dec)
		1	Value below set limit
		2	Set limit exceeded
		3	Set limit reached
6010:05	Limit 2	Only when limit check is active		BIT2	RO	0x00 (0_dec)
		1	Value below set limit
		2	Set limit exceeded
		3	Set limit reached
6010:07	Error	The error bit is set if the process data is invalid (wire breakage, overrange, underrange).		BOOLEAN	RO	0x00 (0_dec)
6010:0E	Sync error			BOOLEAN	RO	0x00 (0_dec)
6010:0F	TxPDO State	Validity of the data of the associated TxPDO		BOOLEAN	RO	0x00 (0_dec)
		0	valid
		1	invalid
6010:10	TxPDO Toggle	TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.		BOOLEAN	RO	0x00 (0_dec)
6010:11	Value	Analog input date		INT16	RO	0x0000 (0_dec)

Index 6020 AI Inputs

Index (hex)	Name	Meaning		Data type	Flags	Default
6020:0	AI inputs	Maximum subindex		UINT8	RO	0x11 (17_dec)
6020:01	Underrange	Is set if the value falls below the operating range of the sensor or the process data contains the lowest possible value.		BOOLEAN	RO	0x00 (0_dec)
6020:02	Overrange	Is set if the value exceeds the operating range of the sensor or the process data contains the highest possible value.		BOOLEAN	RO	0x00 (0_dec)
6020:03	Limit 1	Only when limit check is active		BIT2	RO	0x00 (0_dec)
		1	Value below set limit
		2	Set limit exceeded
		3	Set limit reached
6020:05	Limit 2	Only when limit check is active		BIT2	RO	0x00 (0_dec)
		1	Value below set limit
		2	Set limit exceeded
		3	Set limit reached
6020:07	Error	The error bit is set if the process data is invalid (wire breakage, overrange, underrange).		BOOLEAN	RO	0x00 (0_dec)
6020:0E	Sync error			BOOLEAN	RO	0x00 (0_dec)
6020:0F	TxPDO State	Validity of the data of the associated TxPDO		BOOLEAN	RO	0x00 (0_dec)
		0	valid
		1	invalid
6020:10	TxPDO Toggle	TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.		BOOLEAN	RO	0x00 (0_dec)
6020:11	Value	Analog input date		INT16	RO	0x0000 (0_dec)

Index 6030 AI Inputs

Index (hex)	Name	Meaning		Data type	Flags	Default
6030:0	AI inputs	Maximum subindex		UINT8	RO	0x11 (17_dec)
6030:01	Underrange	Is set if the value falls below the operating range of the sensor or the process data contains the lowest possible value.		BOOLEAN	RO	0x00 (0_dec)
6030:02	Overrange	Is set if the value exceeds the operating range of the sensor or the process data contains the highest possible value.		BOOLEAN	RO	0x00 (0_dec)
6030:03	Limit 1	Only when limit check is active		BIT2	RO	0x00 (0_dec)
		1	Value below set limit
		2	Set limit exceeded
		3	Set limit reached
6030:05	Limit 2	Only when limit check is active		BIT2	RO	0x00 (0_dec)
		1	Value below set limit
		2	Set limit exceeded
		3	Set limit reached
6030:07	Error	The error bit is set if the process data is invalid (wire breakage, overrange, underrange).		BOOLEAN	RO	0x00 (0_dec)
6030:0E	Sync error			BOOLEAN	RO	0x00 (0_dec)
6030:0F	TxPDO State	Validity of the data of the associated TxPDO		BOOLEAN	RO	0x00 (0_dec)
		0	valid
		1	invalid
6030:10	TxPDO Toggle	TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.		BOOLEAN	RO	0x00 (0_dec)
6030:11	Value	Analog input date		INT16	RO	0x0000 (0_dec)

Index 800E AI Internal data

Index (hex)	Name	Meaning	Data type	Flags	Default
800E:0	AI internal data	Maximum subindex	UINT8	RO	0x01 (1_dec)
800E:01	ADC raw value	Raw value of the analog/digital converter	INT16	RO	0x0000 (0_dec)

Index 800F AI Vendor data

Index (hex)	Name	Meaning	Data type	Flags	Default
800F:0	AI vendor data	Maximum subindex	UINT8	RO	0x06 (6_dec)
800F:01	R0 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
800F:02	R0 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)
800F:03	R1 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
800F:04	R1 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)
800F:05	R2 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
800F:06	R2 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)

Index 801E AI Internal data

Index (hex)	Name	Meaning	Data type	Flags	Default
801E:0	AI internal data	Maximum subindex	UINT8	RO	0x01 (1_dec)
801E:01	ADC raw value	Raw value of the analog/digital converter	INT16	RO	0x0000 (0_dec)

Index 801F AI Vendor data

Index (hex)	Name	Meaning	Data type	Flags	Default
801F:0	AI vendor data	Maximum subindex	UINT8	RO	0x06 (6_dec)
801F:01	R0 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
801F:02	R0 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)
801F:03	R1 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
801F:04	R1 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)
801F:05	R2 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
801F:06	R2 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)

Index 802E AI Internal data

Index (hex)	Name	Meaning	Data type	Flags	Default
802E:0	AI internal data	Maximum subindex	UINT8	RO	0x01 (1_dec)
802E:01	ADC raw value	Raw value of the analog/digital converter	INT16	RO	0x0000 (0_dec)

Index 802F AI Vendor data

Index (hex)	Name	Meaning	Data type	Flags	Default
802F:0	AI vendor data	Maximum subindex	UINT8	RO	0x06 (6_dec)
802F:01	R0 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
802F:02	R0 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)
802F:03	R1 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
802F:04	R1 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)
802F:05	R2 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
802F:06	R2 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)

Index 803E AI Internal data

Index (hex)	Name	Meaning	Data type	Flags	Default
803E:0	AI internal data	Maximum subindex	UINT8	RO	0x01 (1_dec)
803E:01	ADC raw value	Raw value of the analog/digital converter	INT16	RO	0x0000 (0_dec)

Index 803F AI Vendor data

Index (hex)	Name	Meaning	Data type	Flags	Default
803F:0	AI vendor data	Maximum subindex	UINT8	RO	0x06 (6_dec)
803F:01	R0 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
803F:02	R0 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)
803F:03	R1 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
803F:04	R1 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)
803F:05	R2 Offset	Offset (vendor calibration)	INT16	RW	0x0000 (0_dec)
803F:06	R2 Gain	Gain (vendor calibration)	INT16	RW	0x4000 (16384_dec)

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 (2_dec)
F000:01	Module index distance	Index distance of the objects of the individual channels	UINT16	RO	0x0010 (16_dec)
F000:02	Maximum number of modules	Number of channels	UINT16	RO	0x0004 (4_dec)

Index F008 Code word

Index (hex)	Name	Meaning	Data type	Flags	Default
F008:0	Code word	reserved	UINT32	RW	0x00000000 (0_dec)

Index F010 Module list

Index (hex)	Name	Meaning	Data type	Flags	Default
F010:0	Module list	Maximum subindex	UINT8	RW	0x05 (5_dec)
F010:01	SubIndex 001		UINT32	RW	0x0000012C (300_dec)
F010:02	SubIndex 002		UINT32	RW	0x0000012C (300_dec)
F010:03	SubIndex 003		UINT32	RW	0x0000012C (300_dec)
F010:04	SubIndex 004		UINT32	RW	0x0000012C (300_dec)