Standard objects (0x1000-0x1FFF)

1000:0

Device type

Device type of the EtherCAT slave: The Low-Word contains the CoE profile used (5001). The High-Word contains the module profile according to the modular device profile.

UINT32

RO

0x014A1389 (21631881_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EPP3314-0002

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

04

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

06

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

0x64769529 (1685493033_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

0x00120002 (1179650_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)

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)

1600:0

TC RxPDO-Map Outputs Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x01 (1_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (TC Outputs Ch.1), entry 0x11 (CJCompensation))

UINT32

RO

0x7000:11, 16

1601:0

TC RxPDO-Map Outputs Ch.2

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (TC Outputs Ch.2), entry 0x11 (CJCompensation))

UINT32

RO

0x7010:11, 16

1602:0

TC RxPDO-Map Outputs Ch.3

PDO Mapping RxPDO 3

UINT8

RO

0x01 (1_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (TC Outputs Ch.3), entry 0x11 (CJCompensation))

UINT32

RO

0x7020:11, 16

1603:0

TC RxPDO-Map Outputs Ch.4

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1_dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7030 (TC Outputs Ch.4), entry 0x11 (CJCompensation))

UINT32

RO

0x7030:11, 16

1A00:0

TC TxPDO-Map TCInputs Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x0A (10_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (TC Inputs Ch.1), entry 0x01 (Underrange))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (TC Inputs Ch.1), entry 0x02 (Overrange))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (TC Inputs Ch.1), entry 0x03 (Limit 1))

UINT32

RO

0x6000:03, 2

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (TC Inputs Ch.1), entry 0x05 (Limit 2))

UINT32

RO

0x6000:05, 2

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (TC Inputs Ch.1), entry 0x07 (Error))

UINT32

RO

0x6000:07, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (TC Inputs Ch.1), entry 0x0E (Sync error))

UINT32

RO

0x6000:0E, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x1800, entry 0x07)

UINT32

RO

0x1800:07, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x1800, entry 0x09)

UINT32

RO

0x1800:09, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (TC Inputs Ch.1), entry 0x11 (Value))

UINT32

RO

0x6000:11, 16

1A01:0

TC TxPDO-Map TCInputs Ch.2

PDO Mapping TxPDO 2

UINT8

RO

0x0A (10_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (TC Inputs Ch.2), entry 0x01 (Underrange))

UINT32

RO

0x6010:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (TC Inputs Ch.2), entry 0x02 (Overrange))

UINT32

RO

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (TC Inputs Ch.2), entry 0x03 (Limit 1))

UINT32

RO

0x6010:03, 2

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (TC Inputs Ch.2), entry 0x05 (Limit 2))

UINT32

RO

0x6010:05, 2

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (TC Inputs Ch.2), entry 0x07 (Error))

UINT32

RO

0x6010:07, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (TC Inputs Ch.2), entry 0x0E (Sync error))

UINT32

RO

0x6010:0E, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x1801, entry 0x07)

UINT32

RO

0x1801:07, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (object 0x1801, entry 0x09)

UINT32

RO

0x1801:09, 1

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (TC Inputs Ch.2), entry 0x11 (Value))

UINT32

RO

0x6010:11, 16

1A02:0

TC TxPDO-Map TCInputs Ch.3

PDO Mapping TxPDO 3

UINT8

RO

0x0A (10_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (TC Inputs Ch.3), entry 0x01 (Underrange))

UINT32

RO

0x6020:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (TC Inputs Ch.3), entry 0x02 (Overrange))

UINT32

RO

0x6020:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (TC Inputs Ch.3), entry 0x03 (Limit 1))

UINT32

RO

0x6020:03, 2

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (TC Inputs Ch.3), entry 0x05 (Limit 2))

UINT32

RO

0x6020:05, 2

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (TC Inputs Ch.3), entry 0x07 (Error))

UINT32

RO

0x6020:07, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6020 (TC Inputs Ch.3), entry 0x0E (Sync error))

UINT32

RO

0x6020:0E, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x1802, entry 0x07)

UINT32

RO

0x1802:07, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x1802, entry 0x09)

UINT32

RO

0x1802:09, 1

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x6020 (TC Inputs Ch.3), entry 0x11 (Value))

UINT32

RO

0x6020:11, 16

1A03:0

TC TxPDO-Map TCInputs Ch.4

PDO Mapping TxPDO 4

UINT8

RO

0x0A (10_dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (TC Inputs Ch.4), entry 0x01 (Underrange))

UINT32

RO

0x6030:01, 1

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (TC Inputs Ch.4), entry 0x02 (Overrange))

UINT32

RO

0x6030:02, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (TC Inputs Ch.4), entry 0x03 (Limit 1))

UINT32

RO

0x6030:03, 2

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (TC Inputs Ch.4), entry 0x05 (Limit 2))

UINT32

RO

0x6030:05, 2

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (TC Inputs Ch.4), entry 0x07 (Error))

UINT32

RO

0x6030:07, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

1A03:07

SubIndex 007

7. PDO Mapping entry (object 0x6030 (TC Inputs Ch.4), entry 0x0E (Sync error))

UINT32

RO

0x6030:0E, 1

1A03:08

SubIndex 008

8. PDO Mapping entry (object 0x1803, entry 0x07)

UINT32

RO

0x1803:07, 1

1A03:09

SubIndex 009

9. PDO Mapping entry (object 0x1803, entry 0x09)

UINT32

RO

0x1803:09, 1

1A03:0A

SubIndex 010

10. PDO Mapping entry (object 0x6030 (TC Inputs Ch.4), entry 0x11 (Value))

UINT32

RO

0x6030:11, 16

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

0x00 (0_dec)

1C12:01

Subindex 001

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

UINT16

RW

0x0000 (0_dec)

1C12:02

Subindex 002

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

UINT16

RW

0x0000 (0_dec)

1C12:03

Subindex 003

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

UINT16

RW

0x0000 (0_dec)

1C12:04

Subindex 004

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

UINT16

RW

0x0000 (0_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x04 (4_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)

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

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: Synchronous 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

0x00002710 (10000_dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0_dec)

1C32:07

Minimum delay time

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

Maximum 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: Synchronous with SM 3 Event (no outputs available)
• 2: DC - Synchronous 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

0x000F4240 (1000000_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: 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 0x1C32:08 or 0x1C33:08)

UINT16

RO

0xC007 (49159_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x00002710 (10000_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)

1C33:07

Minimum delay time

UINT32

RO

0x00000000 (0_dec)

1C33:08

Command

as 0x1C32:08

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

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 0x1C32:32

BOOLEAN

RO

0x00 (0_dec)