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 |
0x00001389 (5001dec) |
Index 1008 Device name
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1008:0 | Device name | Device name of the EtherCAT slave | STRING | RO | EPP4374-0002 |
Index 1009 Hardware version
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1009:0 | Hardware version | Hardware version of the EtherCAT slave | STRING | RO | - |
Index 100A Software version
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
100A:0 | Software version | Firmware version of the EtherCAT slave | STRING | RO | - |
Index 1018 Identity
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1018:0 | Identity | Information for identifying the slave | UINT8 | RO | 0x04 (4dec) |
1018:01 | Vendor ID | Vendor ID of the EtherCAT slave | UINT32 | RO | 0x00000002 (2dec) |
1018:02 | Product code | Product code of the EtherCAT slave | UINT32 | RO | 0x6476D769 (1685509993dec) |
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 | 0x00110002 (1114114dec) |
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 (0dec) |
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 (1dec) |
10F0:01 |
Checksum |
Checksum across all backup entries of the EtherCAT slave |
UINT32 |
RO |
0x00000000 (0dec) |
Index 1600 AO Outputs Ch.3
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1600:0 |
AO Outputs Ch.3 |
PDO Mapping RxPDO 1 |
UINT8 |
RO |
0x01 (1dec) |
1600:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x7020 (AO outputs Ch.3), entry 0x11 (Analog output)) |
UINT32 |
RO |
0x7020:11, 16 |
Index 1601 AO Outputs Ch.4
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1601:0 |
AO Outputs Ch.4 |
PDO Mapping RxPDO 2 |
UINT8 |
RO |
0x01 (1dec) |
1601:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x7030 (AO outputs Ch.4), entry 0x11 (Analog output)) |
UINT32 |
RO |
0x7030:11, 16 |
Index 1800 AI Inputs Ch.1
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1800:0 |
AI Inputs Ch.1 |
PDO Parameter TxPDO 1 |
UINT8 |
RO |
0x06 (6dec) |
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 Inputs Compact Ch.1
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1801:0 |
AI Inputs Compact Ch.1 |
PDO Parameter TxPDO 2 |
UINT8 |
RO |
0x06 (6dec) |
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 Inputs Ch.2
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1802:0 |
AI Inputs Ch.2 |
PDO Parameter TxPDO 3 |
UINT8 |
RO |
0x06 (6dec) |
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 Inputs Compact Ch.2
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1803:0 |
AI Inputs Compact Ch.2 |
PDO Parameter TxPDO 4 |
UINT8 |
RO |
0x06 (6dec) |
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 1A00 AI Inputs Ch.1
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A00:0 |
AI Inputs Ch.1 |
PDO Mapping TxPDO 1 |
UINT8 |
RO |
0x0B (11dec) |
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 0x6000 (AI Inputs), entry 0x0E (Sync error)) |
UINT32 |
RO |
0x6000:0E, 1 |
1A00:09 |
SubIndex 009 |
9. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x0F (TxPDO State)) |
UINT32 |
RO |
0x6000:0F, 1 |
1A00:0A |
SubIndex 010 |
10. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x10 (TxPDO Toggle)) |
UINT32 |
RO |
0x6000:10, 1 |
1A00:0B |
SubIndex 011 |
11. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value)) |
UINT32 |
RO |
0x6000:11, 16 |
Index 1A01 AI Inputs Compact Ch.1
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A01:0 |
AI Inputs Compact Ch.1 |
PDO Mapping TxPDO 2 |
UINT8 |
RO |
0x01 (1dec) |
1A01:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value)) |
UINT32 |
RO |
0x6000:11, 16 |
Index 1A02 AI Inputs Ch.2
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A02:0 |
AI Inputs Ch.2 |
PDO Mapping TxPDO 3 |
UINT8 |
RO |
0x0B (11dec) |
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, 5 |
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 Inputs), entry 0x10 (TxPDO Toggle)) |
UINT32 |
RO |
0x6010:10, 1 |
1A02:0B |
SubIndex 011 |
11. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x11 (Value)) |
UINT32 |
RO |
0x6010:11, 16 |
Index 1A03 AI Inputs Compact Ch.2
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1A03:0 |
AI Inputs Compact Ch.2 |
PDO Mapping TxPDO 4 |
UINT8 |
RO |
0x01 (1dec) |
1A03:01 |
SubIndex 001 |
1. PDO Mapping entry (object 0x6010 (AI Inputs), entry 0x11 (Value)) |
UINT32 |
RO |
0x6010:11, 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 (4dec) |
1C00:01 |
SubIndex 001 |
Sync-Manager Type Channel 1: Mailbox Write |
UINT8 |
RO |
0x01 (1dec) |
1C00:02 |
SubIndex 002 |
Sync-Manager Type Channel 2: Mailbox Read |
UINT8 |
RO |
0x02 (2dec) |
1C00:03 |
SubIndex 003 |
Sync-Manager Type Channel 3: Process Data Write (Outputs) |
UINT8 |
RO |
0x03 (3dec) |
1C00:04 |
SubIndex 004 |
Sync-Manager Type Channel 4: Process Data Read (Inputs) |
UINT8 |
RO |
0x04 (4dec) |
Index 1C12 RxPDO assign
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1C12:0 |
RxPDO assign |
PDO Assign Outputs |
UINT8 |
RW |
0x02 (2dec) |
1C12:01 |
Subindex 001 |
1st allocated RxPDO (contains the index of the associated RxPDO mapping object) |
UINT16 |
RW |
0x1600 (5632dec) |
1C12:02 |
Subindex 002 |
2nd allocated RxPDO (contains the index of the associated RxPDO mapping object) |
UINT16 |
RW |
0x1601 (5633dec) |
Index 1C13 TxPDO assign
Index (hex) |
Name |
Meaning |
Data type |
Flags |
Default |
---|---|---|---|---|---|
1C13:0 |
TxPDO assign |
PDO Assign Inputs |
UINT8 |
RW |
0x02 (2dec) |
1C13:01 |
Subindex 001 |
1st allocated TxPDO (contains the index of the associated TxPDO mapping object) |
UINT16 |
RW |
0x1A00 (6656dec) |
1C13:02 |
Subindex 002 |
2nd allocated TxPDO (contains the index of the associated TxPDO mapping object) |
UINT16 |
RW |
0x1A02 (6658dec) |
Index 1C32 SM output parameter
Index (hex) | Name | Meaning | Data type | Flags | Default | ||
---|---|---|---|---|---|---|---|
1C32:0 | SM output parameter | Synchronization parameters for the outputs | UINT8 | RO | 0x20 (32dec) | ||
1C32:01 | Sync mode | Value | Current synchronization mode | UINT16 | RW | 0x0001 (1dec) | |
0 | Free Run | ||||||
1 | Synchron with SM 2 Event | ||||||
2 | DC-Mode - Synchron with SYNC0 Event | ||||||
3 | DC-Mode - Synchron with SYNC1 Event | ||||||
1C32:02 | Cycle time | Cycle time (in ns): | UINT32 | RW | 0x000F4240 (1000000dec) | ||
Free Run | Cycle time of the local timer | ||||||
Synchron with SM 2 Event | Master cycle time | ||||||
DC-Mode | SYNC0/SYNC1 Cycle Time | ||||||
1C32:03 | Shift time | Time between SYNC0 event and output of the outputs (in ns, DC mode only) | UINT32 | RO | 0x00002710 (10000dez) | ||
1C32:04 | Sync modes supported | Bit | Value | Supported synchronization modes: | UINT16 | RO | 0xC007 (49159dec) |
0 | 1 | free run is supported | |||||
1 | 1 | Synchronous with SM 2 event is supported | |||||
3.2 | 01 | DC mode is supported | |||||
5.4 | 10 | Output shift with SYNC1 event (only DC mode) | |||||
14 | 1 | dynamic times (measurement through writing of 0x1C32:08) | |||||
1C32:05 | Minimum cycle time | Minimum cycle time (in ns) | UINT32 | RO | 0x0007A120 (500000dez) | ||
1C32:06 | Calc and copy time | Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only) | UINT32 | RO | 0x00001388 (5000dez) | ||
1C32:07 | Minimum delay time |
| UINT32 | RO | 0x00001388 (5000dez) | ||
1C32:08 | Command | 0 | Measurement of the local cycle time is stopped | UINT16 | RW | 0x0000 (0dec) | |
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 | |||||||
1C32:09 | Maximum Delay time | Time between SYNC1 event and output of the outputs (in ns, DC mode only) | UINT32 | RO | 0x00001388 (5000dez) | ||
1C32:0B | SM event missed counter | Number of missed SM events in OPERATIONAL (DC mode only) | UINT16 | RO | 0x0000 (0dec) | ||
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 (0dec) | ||
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 (0dec) | ||
1C32:20 | Sync error | The synchronization was not correct in the last cycle (outputs were output too late; DC mode only) | BOOLEAN | RO | 0x00 (0dec) |
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 (32dec) |
1C33:01 |
Sync mode |
Current synchronization mode:
|
UINT16 |
RW |
0x0022 (34dec) |
1C33:02 |
Cycle time |
as 0x1C32:02 |
UINT32 |
RW |
0x000F4240 (1000000dec) |
1C33:03 |
Shift time |
Time between SYNC0 event and reading of the inputs (in ns, only DC mode) |
UINT32 |
RO |
0x00001388 (5000dec) |
1C33:04 |
Sync modes supported |
Supported synchronization modes:
|
UINT16 |
RO |
0xC007 (49159dec) |
1C33:05 |
Minimum cycle time |
as 0x1C32:05 |
UINT32 |
RO |
0x0007A120 (500000dec) |
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 (10000dec) |
1C33:07 |
Minimum delay time |
|
UINT32 |
RO |
0x00001388 (5000dec) |
1C33:08 |
Command |
as 0x1C32:08 |
UINT16 |
RW |
0x0000 (0dec) |
1C33:09 |
Maximum delay time |
Time between SYNC1 event and reading of the inputs (in ns, only DC mode) |
UINT32 |
RO |
0x00001388 (5000dec) |
1C33:0B |
SM event missed counter |
as 0x1C32:11 |
UINT16 |
RO |
0x0000 (0dec) |
1C33:0C |
Cycle exceeded counter |
as 0x1C32:12 |
UINT16 |
RO |
0x0000 (0dec) |
1C33:0D |
Shift too short counter |
as 0x1C32:13 |
UINT16 |
RO |
0x0000 (0dec) |
1C33:20 |
Sync error |
as 0x1C32:32 |
BOOLEAN |
RO |
0x00 (0dec) |