Object description and parameterization

Object description and parameterization 1:

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.

Object description and parameterization 2:

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). Please note the following general CoE notes when using/manipulating the CoE parameters:

  • Keep a startup list if components have to be replaced
  • Differentiation between online/offline dictionary, existence of current XML description
  • use “CoE reload” for resetting changes

Introduction

The CoE overview contains objects for different intended applications:

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 settings

UINT8

RO

0x01 (1dec)

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 (0dec)

Index 8000 COM Settings Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

8000:0

COM Settings Ch.1

 

UINT8

RO

0x1A (26dec)

8000:02

Enable XON/XOFF supported tx data

XON/XOFF is supported for send data

BOOLEAN

RW

0x00 (0dec)

8000:03

Enable XON/XOFF supported rx data

XON/XOFF is supported for receive data

BOOLEAN

RW

0x00 (0dec)

8000:04

Enable send FIFO data continuous

Continuous sending of data from the FIFO enabled

BOOLEAN

RW

0x00 (0dec)

8000:05

Enable transfer rate optimization

Switch on the transfer rate optimization

BOOLEAN

RW

0x01 (1dec)

8000:06

Enable half duplex

Half duplex for RS485 mode (this bit is not evaluated in RS232 and RS422 mode)

BOOLEAN

RW

0x00 (0dec)

0

Full duplex: The module monitors its transmitted data.

1

Half duplex: The module does not monitor the data that it has transmitted itself.

8000:07

Enable point to point connection (RS422)

0

The module is used in a bus structure in accordance with the RS485 standard.

BOOLEAN

RW

0x00 (0dec)

1

The module is used as a point-to-point connection (RS422)

8000:11

Baud rate

Baud Rate         

BIT4

RW

0x06 (6dec)

0x01

300 baud

0x02

600 baud

0x03

1200 baud

0x04

2400 baud

0x05

4800 baud

0x06

9600 baud

0x07

19200 baud

0x08

38400 baud

0x09

57600 baud

0x0A

115200 baud

8000:15

Data frame

Data frame / Stop bits        

BIT4

RW

0x03 (3dec)

0x01

7E1

0x02

7O1

0x03

8N1

0x04

8E1

0x05

8O1

0x09

7E2

0x0A

7O2

0x0B

8N2

0x0C

 8E2

0x0D

8O2

8000:19

Sensor Power Supply Output

0: Off
1: 5 V

BIT4

RW

5 V (1)

8000:1A

Rx buffer full notification

The value specifies the number of data in the receive FIFO, from which the bit "buffer full" is set.

UINT16

RW

0x0360 (864dec)

8000:1B

Explicit baudrate

In this object the desired baud rate can be entered directly as a number.

UINT32

RW

0x00002580 (9600dec)

Index F800 COM Settings

Index (hex)

Name

Meaning

Data type

Flags

Default

F800:0

COM Settings

 

UINT8

RO

0x01 (1dec)

F800:01

Interface Type Ch 1

0x00

RS232

BIT1

RW

0x00 (0dec)

Additional objects

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

EPP6001-0002

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

Index 100A Software Version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

00

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

0x17714052 (393298002dec)

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

0x00100002 (1048578dec)

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 1400 COM RxPDO-Par Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1400:0

COM RxPDO-Par Outputs

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6dec)

1400:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 1

OCTET-STRING[2]

RO

04 16

Index 1404 COM RxPDO-Par Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1404:0

COM RxPDO-Par Outputs

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6dec)

1404:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 5

OCTET-STRING[2]

RO

00 16

Index 1600 COM RxPDO-Map Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

COM RxPDO-Map Outputs

PDO Mapping RxPDO 1

UINT8

RO

0x1C (28dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x01 (Transmit request))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x02 (Receive accepted))

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x03 (Init request))

UINT32

RO

0x7000:03, 1

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x04 (Send continuous))

UINT32

RO

0x7000:04, 1

1600:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1600:06

SubIndex 006

6. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x09 (Output length))

UINT32

RO

0x7000:09, 8

1600:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x11 (Data Out 0))

UINT32

RO

0x7000:11, 8

1600:08

SubIndex 008

8. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x12 (Data Out 1))

UINT32

RO

0x7000:12, 8

1600:09

SubIndex 009

9. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x13 (Data Out 2))

UINT32

RO

0x7000:13, 8

1600:0A

SubIndex 010

10. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x14 (Data Out 3))

UINT32

RO

0x7000:14, 8

1600:0B

SubIndex 011

11. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x15 (Data Out 4))

UINT32

RO

0x7000:15, 8

1600:0C

SubIndex 012

12. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x16 (Data Out 5))

UINT32

RO

0x7000:16, 8

1600:0D

SubIndex 013

13. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x17 (Data Out 6))

UINT32

RO

0x7000:17, 8

1600:0E

SubIndex 014

14. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x18 (Data Out 7))

UINT32

RO

0x7000:18, 8

1600:0F

SubIndex 015

15. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x19 (Data Out 8))

UINT32

RO

0x7000:19, 8

1600:10

SubIndex 016

16. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1A (Data Out 9))

UINT32

RO

0x7000:1A, 8

1600:11

SubIndex 017

17. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1B (Data Out 10))

UINT32

RO

0x7000:1B, 8

1600:12

SubIndex 018

18. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1C (Data Out 11))

UINT32

RO

0x7000:1C, 8

1600:13

SubIndex 019

19. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1D (Data Out 12))

UINT32

RO

0x7000:1D, 8

1600:14

SubIndex 020

20. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1E (Data Out 13))

UINT32

RO

0x7000:1E, 8

1600:15

SubIndex 021

21. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1F (Data Out 14))

UINT32

RO

0x7000:1F, 8

1600:16

SubIndex 022

22. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x20 (Data Out 15))

UINT32

RO

0x7000:20, 8

1600:17

SubIndex 023

23. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x21 (Data Out 16))

UINT32

RO

0x7000:21, 8

1600:18

SubIndex 024

24. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x22 (Data Out 17))

UINT32

RO

0x7000:22, 8

1600:19

SubIndex 025

25. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x23 (Data Out 18))

UINT32

RO

0x7000:23, 8

1600:1A

SubIndex 026

26. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x24 (Data Out 19))

UINT32

RO

0x7000:24, 8

1600:1B

SubIndex 027

27. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x25 (Data Out 20))

UINT32

RO

0x7000:25, 8

1600:1C

SubIndex 028

28. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x26 (Data Out 21))

UINT32

RO

0x7000:26, 8

Index 1604 COM RxPDO-Map Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

COM RxPDO-Map Outputs

PDO Mapping RxPDO 2

UINT8

RO

0x17 (23dec)

1604:01

SubIndex 001

1. PDO Mapping entry (object 0x7001 (Ctrl Ch.1), entry 0x01 (Ctrl))

UINT32

RO

0x7001:01, 16

1604:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x11 (Data Out 0))

UINT32

RO

0x7000:11, 8

1604:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x12 (Data Out 1))

UINT32

RO

0x7000:12, 8

1604:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x13 (Data Out 2))

UINT32

RO

0x7000:13, 8

1604:05

SubIndex 005

5. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x14 (Data Out 3))

UINT32

RO

0x7000:14, 8

1604:06

SubIndex 006

6. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x15 (Data Out 4))

UINT32

RO

0x7000:15, 8

1604:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x16 (Data Out 5))

UINT32

RO

0x7000:16, 8

1604:08

SubIndex 008

8. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x17 (Data Out 6))

UINT32

RO

0x7000:17, 8

1604:09

SubIndex 009

9. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x18 (Data Out 7))

UINT32

RO

0x7000:18, 8

1604:0A

SubIndex 010

10. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x19 (Data Out 8))

UINT32

RO

0x7000:19, 8

1604:0B

SubIndex 011

11. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1A (Data Out 9))

UINT32

RO

0x7000:1A, 8

1604:0C

SubIndex 012

12. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1B (Data Out 10))

UINT32

RO

0x7000:1B, 8

1604:0D

SubIndex 013

13. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1C (Data Out 11))

UINT32

RO

0x7000:1C, 8

1604:0E

SubIndex 014

14. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1D (Data Out 12))

UINT32

RO

0x7000:1D, 8

1604:0F

SubIndex 015

15. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1E (Data Out 13))

UINT32

RO

0x7000:1E, 8

1604:10

SubIndex 016

16. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1F (Data Out 14))

UINT32

RO

0x7000:1F, 8

1604:11

SubIndex 017

17. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x20 (Data Out 15))

UINT32

RO

0x7000:20, 8

1604:12

SubIndex 018

18. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x21 (Data Out 16))

UINT32

RO

0x7000:21, 8

1604:13

SubIndex 019

19. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x22 (Data Out 17))

UINT32

RO

0x7000:22, 8

1604:14

SubIndex 020

20. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x23 (Data Out 18))

UINT32

RO

0x7000:23, 8

1604:15

SubIndex 021

21. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x24 (Data Out 19))

UINT32

RO

0x7000:24, 8

1604:16

SubIndex 022

22. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x25 (Data Out 20))

UINT32

RO

0x7000:25, 8

1604:17

SubIndex 023

23. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x26 (Data Out 21))

UINT32

RO

0x7000:26, 8

Index 1608 DIG RxPDO-Map Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1608:0

DIG RxPDO-Map Outputs

PDO Mapping RxPDO 3

UINT8

RO

0x03 (3dec)

1608:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DIG Outputs), entry 0x01 (Digital Output 1))

UINT32

RO

0x7001:01, 1

1608:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (DIG Outputs), entry 0x02 (Digital Output 2))

UINT32

RO

0x7010:02, 1

1608:03

SubIndex 003

3. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

Index 1800 COM TxPDO-Par Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1800:0

COM TxPDO-Par Inputs

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

04 1A

Index 1804 COM TxPDO-Par Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1804:0

COM TxPDO-Par Inputs

PDO parameter TxPDO 2

UINT8

RO

0x06 (6dec)

1804:06

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 1A00 COM TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

COM TxPDO-Map Inputs

PDO Mapping TxPDO 1

UINT8

RO

0x1F (31dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x01 (Transmit accepted))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x02 (Receive request))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x03 (Init accepted))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x04 (Buffer full))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x05 (Parity error))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x06 (Framing error))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x07 (Overrun error))

UINT32

RO

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x09 (Input length))

UINT32

RO

0x6000:09, 8

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x11 (Data In 0))

UINT32

RO

0x6000:11, 8

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x12 (Data In 1))

UINT32

RO

0x6000:12, 8

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x13 (Data In 2))

UINT32

RO

0x6000:13, 8

1A00:0D

SubIndex 013

13. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x14 (Data In 3))

UINT32

RO

0x6000:14, 8

1A00:0E

SubIndex 014

14. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x15 (Data In 4))

UINT32

RO

0x6000:15, 8

1A00:0F

SubIndex 015

15. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x16 (Data In 5))

UINT32

RO

0x6000:16, 8

1A00:10

SubIndex 016

16. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x17 (Data In 6))

UINT32

RO

0x6000:17, 8

1A00:11

SubIndex 017

17. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x18 (Data In 7))

UINT32

RO

0x6000:18, 8

1A00:12

SubIndex 018

18. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x19 (Data In 8))

UINT32

RO

0x6000:19, 8

1A00:13

SubIndex 019

19. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1A (Data In 9))

UINT32

RO

0x6000:1A, 8

1A00:14

SubIndex 020

20. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1B (Data In 10))

UINT32

RO

0x6000:1B, 8

1A00:15

SubIndex 021

21. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1C (Data In 11))

UINT32

RO

0x6000:1C, 8

1A00:16

SubIndex 022

22. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1D (Data In 12))

UINT32

RO

0x6000:1D, 8

1A00:17

SubIndex 023

23. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1E (Data In 13))

UINT32

RO

0x6000:1E, 8

1A00:18

SubIndex 024

24. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1F (Data In 14))

UINT32

RO

0x6000:1F, 8

1A00:19

SubIndex 025

25. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x20 (Data In 15))

UINT32

RO

0x6000:20, 8

1A00:1A

SubIndex 026

26. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x21 (Data In 16))

UINT32

RO

0x6000:21, 8

1A00:1B

SubIndex 027

27. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x22 (Data In 17))

UINT32

RO

0x6000:22, 8

1A00:1C

SubIndex 028

28. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x23 (Data In 18))

UINT32

RO

0x6000:23, 8

1A00:1D

SubIndex 029

29. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x24 (Data In 19))

UINT32

RO

0x6000:24, 8

1A00:1E

SubIndex 030

30. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x25 (Data In 20))

UINT32

RO

0x6000:25, 8

1A00:1F

SubIndex 031

31. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x26 (Data In 21))

UINT32

RO

0x6000:26, 8

Index 1A04 COM TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

COM TxPDO-Map Inputs

PDO Mapping TxPDO 2

UINT8

RO

0x17 (23dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (Status Ch.1), entry 0x01 (Status))

UINT32

RO

0x6001:01, 16

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x11 (Data In 0))

UINT32

RO

0x6000:11, 8

1A04:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x12 (Data In 1))

UINT32

RO

0x6000:12, 8

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x13 (Data In 2))

UINT32

RO

0x6000:13, 8

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x14 (Data In 3))

UINT32

RO

0x6000:14, 8

1A04:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x15 (Data In 4))

UINT32

RO

0x6000:15, 8

1A04:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x16 (Data In 5))

UINT32

RO

0x6000:16, 8

1A04:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x17 (Data In 6))

UINT32

RO

0x6000:17, 8

1A04:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x18 (Data In 7))

UINT32

RO

0x6000:18, 8

1A04:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x19 (Data In 8))

UINT32

RO

0x6000:19, 8

1A04:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1A (Data In 9))

UINT32

RO

0x6000:1A, 8

1A04:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1B (Data In 10))

UINT32

RO

0x6000:1B, 8

1A04:0D

SubIndex 013

13. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1C (Data In 11))

UINT32

RO

0x6000:1C, 8

1A04:0E

SubIndex 014

14. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1D (Data In 12))

UINT32

RO

0x6000:1D, 8

1A04:0F

SubIndex 015

15. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1E (Data In 13))

UINT32

RO

0x6000:1E, 8

1A04:10

SubIndex 016

16. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1F (Data In 14))

UINT32

RO

0x6000:1F, 8

1A04:11

SubIndex 017

17. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x20 (Data In 15))

UINT32

RO

0x6000:20, 8

1A04:12

SubIndex 018

18. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x21 (Data In 16))

UINT32

RO

0x6000:21, 8

1A04:13

SubIndex 019

19. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x22 (Data In 17))

UINT32

RO

0x6000:22, 8

1A04:14

SubIndex 020

20. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x23 (Data In 18))

UINT32

RO

0x6000:23, 8

1A04:15

SubIndex 021

21. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x24 (Data In 19))

UINT32

RO

0x6000:24, 8

1A04:16

SubIndex 022

22. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x25 (Data In 20))

UINT32

RO

0x6000:25, 8

1A04:17

SubIndex 023

23. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x26 (Data In 21))

UINT32

RO

0x6000:26, 8

Index 1A08 DIG TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

COM TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 6

UINT8

RO

0x03 (3dec)

1A08:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DIG Inputs), entry 0x01 (Digital Input 1))

UINT32

RO

0x6010:01, 1

1A08:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DIG Inputs), entry 0x02 (Digital Input 2))

UINT32

RO

0x6010:02, 1

1A08:03

SubIndex 003

3. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

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

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

UINT16

RW

0x1604 (5636dec)

1C12:02

Subindex 002

2. reserved

UINT16

RW

--

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

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

UINT16

RW

0x1A04 (6660dec)

1C13:02

Subindex 002

2. reserved

UINT16

RW

--

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

Current synchronization mode:

  • 0: Free Run
  • 1: Synchron with SM 2 Event
  • 2: DC-Mode - Synchron with SYNC0 Event
  • 3: DC-Mode - Synchron with SYNC1 Event

UINT16

RW

0x0000 (0dec)

1C32:02

Cycle time

Cycle time (in ns):

  • Free Run: Cycle time of the local timer
  • Synchron with SM 2 Event: Master cycle time
  • DC mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x0003D090 (250000dec)

1C32:03

Shift time

Time between SYNC0 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000384 (900dec)

1C32:04

Sync modes supported

Supported synchronization modes:

  • Bit 0 = 1: free run is supported
  • Bit 1 = 1: Synchron 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 1C32:08)

UINT16

RO

0x0001 (1dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0003D090 (250000dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C32:07

Minimum delay time

 

UINT32

RO

0x00000384 (900dec)

1C32:08

Command

  • 0: Measurement of the local cycle time is stopped
  • 1: Measurement of the local cycle time is started

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0dec)

1C32:09

Maximum Delay time

Time between SYNC1 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000384 (900dec)

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:

  • 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

0x0000 (0dec)

1C33:02

Cycle time

as 1C32:02 

UINT32

RW

0x0003D090 (250000dec)

1C33:03

Shift time

Time between SYNC0 event and reading of the inputs (in ns, only DC mode)

UINT32

RO

0x00000384 (900dec)

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 1C32:08 or 1C33:08)

UINT16

RO

0x0001 (1dec)

1C33:05

Minimum cycle time

as 1C32:05 

UINT32

RO

0x0003D090 (250000dec)

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 (0dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00000384 (900dec)

1C33:08

Command

as 1C32:08

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

0x00000384 (900dec)

1C33:0B

SM event missed counter

as 1C32:11 

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 1C32:12 

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 1C32:13 

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 1C32:32 

BOOLEAN

RO

0x00 (0dec)

Profile-specific objects (0x6000-0xFFFF)

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

Index 6000 COM Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

6000:0

COM Inputs Ch.1

 

UINT8

RO

0x26 (38dec)

6000:01

Transmit accepted

The module acknowledges receipt of data by changing the state of this bit

BOOLEAN

RO

0x00 (0dec)

6000:02

Receive request

By changing the state of this bit, the module informs the controller that the DataIn bytes contain the number of bytes displayed in "Input length"

BOOLEAN

RO

0x00 (0dec)

6000:03

Init Accepted

The initialization is carried out from the terminal

BOOLEAN

RO

0x00 (0dec)

6000:04

Buffer full

The receive FIFO is full

BOOLEAN

RO

0x00 (0dec)

6000:05

Parity error

A parity error has occurred

BOOLEAN

RO

0x00 (0dec)

6000:06

Framing error

A framing error has occurred

BOOLEAN

RO

0x00 (0dec)

6000:07

Overrun error

An overrun error has occurred

BOOLEAN

RO

0x00 (0dec)

6000:09

Input length

Number of input bytes available for transfer from the terminal to the controller

UINT8

RO

0x00 (0dec)

6000:11

Data In 0

Input data

UINT8

RO

0x00 (0dec)

6000:12

Data In 1

Input data

UINT8

RO

0x00 (0dec)

6000:13

Data In 2

Input data

UINT8

RO

0x00 (0dec)

6000:14

Data In 3

Input data

UINT8

RO

0x00 (0dec)

6000:15

Data In 4

Input data

UINT8

RO

0x00 (0dec)

6000:16

Data In 5

Input data

UINT8

RO

0x00 (0dec)

6000:17

Data In 6

Input data

UINT8

RO

0x00 (0dec)

6000:18

Data In 7

Input data

UINT8

RO

0x00 (0dec)

6000:19

Data In 8

Input data

UINT8

RO

0x00 (0dec)

6000:1A

Data In 9

Input data

UINT8

RO

0x00 (0dec)

6000:1B

Data In 10

Input data

UINT8

RO

0x00 (0dec)

6000:1C

Data In 11

Input data

UINT8

RO

0x00 (0dec)

6000:1D

Data In 12

Input data

UINT8

RO

0x00 (0dec)

6000:1E

Data In 13

Input data

UINT8

RO

0x00 (0dec)

6000:1F

Data In 14

Input data

UINT8

RO

0x00 (0dec)

6000:20

Data In 15

Input data

UINT8

RO

0x00 (0dec)

6000:21

Data In 16

Input data

UINT8

RO

0x00 (0dec)

6000:22

Data In 17

Input data

UINT8

RO

0x00 (0dec)

6000:23

Data In 18

Input data

UINT8

RO

0x00 (0dec)

6000:24

Data In 19

Input data

UINT8

RO

0x00 (0dec)

6000:25

Data In 20

Input data

UINT8

RO

0x00 (0dec)

6000:26

Data In 21

Input data

UINT8

RO

0x00 (0dec)

Index 6001 Status Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

6001:0

Status Ch.1

 

UINT8

RO

0x01 (1dec)

6001:01

Status

Status word for compatible process image

UINT16

RO

0x0000 (0dec)

Index 6010 DIG Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

6010:0

DIG Inputs

 

UINT8

RO

0x02 (2dec)

6010:01

Digital Input 1

 

BOOLEAN

RO

0x00 (0dec)

6010:02

Digital Input 1

 

BOOLEAN

RO

0x00 (0dec)

6010:03

Init Accepted

The initialization is carried out from the terminal

BOOLEAN

RO

0x00 (0dec)

Index 7000 COM Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

7000:0

COM Outputs Ch.1

 

UINT8

RO

0x26 (38dec)

7000:01

Transmit request

By changing the state of this bit, the controller informs the terminal that the DataOut bytes contain the number of bytes displayed in "Output length".

BOOLEAN

RO

0x00 (0dec)

7000:02

Receive accepted

The controller acknowledges receipt of data by changing the state of this bit.

BOOLEAN

RO

0x00 (0dec)

7000:03

Init request

The controller requests the module to initialize.

BOOLEAN

RO

0x00 (0dec)

7000:04

Send continuous

Continuous sending of data from the FIFO.

BOOLEAN

RO

0x00 (0dec)

7000:09

Output length

Number of output bytes available for transfer from the controller to the terminal.

UINT8

RO

0x00 (0dec)

7000:11

Data Out 0

Output data

UINT8

RO

0x00 (0dec)

7000:12

Data Out 1

Output data

UINT8

RO

0x00 (0dec)

7000:13

Data Out 2

Output data

UINT8

RO

0x00 (0dec)

7000:14

Data Out 3

Output data

UINT8

RO

0x00 (0dec)

7000:15

Data Out 4

Output data

UINT8

RO

0x00 (0dec)

7000:16

Data Out 5

Output data

UINT8

RO

0x00 (0dec)

7000:17

Data Out 6

Output data

UINT8

RO

0x00 (0dec)

7000:18

Data Out 7

Output data

UINT8

RO

0x00 (0dec)

7000:19

Data Out 8

Output data

UINT8

RO

0x00 (0dec)

7000:1A

Data Out 9

Output data

UINT8

RO

0x00 (0dec)

7000:1B

Data Out 10

Output data

UINT8

RO

0x00 (0dec)

7000:1C

Data Out 11

Output data

UINT8

RO

0x00 (0dec)

7000:1D

Data Out 12

Output data

UINT8

RO

0x00 (0dec)

7000:1E

Data Out 13

Output data

UINT8

RO

0x00 (0dec)

7000:1F

Data Out 14

Output data

UINT8

RO

0x00 (0dec)

7000:20

Data Out 15

Output data

UINT8

RO

0x00 (0dec)

7000:21

Data Out 16

Output data

UINT8

RO

0x00 (0dec)

7000:22

Data Out 17

Output data

UINT8

RO

0x00 (0dec)

7000:23

Data Out 18

Output data

UINT8

RO

0x00 (0dec)

7000:24

Data Out 19

Output data

UINT8

RO

0x00 (0dec)

7000:25

Data Out 20

Output data

UINT8

RO

0x00 (0dec)

7000:26

Data Out 21

Output data

UINT8

RO

0x00 (0dec)

Index 7001 Ctrl Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

7001:0

Ctrl Ch.1

 

UINT8

RO

0x01 (1dec)

7001:01

Ctrl

Control word for compatible process image

UINT16

RO

0x0000 (0dec)

Index 7010 DIG Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

7010:0

DIG Outputs

 

UINT8

RO

0x26 (38dec)

7010:01

Digital Output 1

 

BOOLEAN

RO

0x00 (0dec)

7010:02

Digital Output 2

 

BOOLEAN

RO

0x00 (0dec)

Index A000 COM Diag data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

A000:0

COM Diag data Ch.1

 

UINT8

RO

0x21 (33dec)

A000:01

Buffer overflow

A buffer overflow has occurred.

BOOLEAN

RO

0x00 (0dec)

A000:02

Parity error

A parity error has occurred.

BOOLEAN

RO

0x00 (0dec)

A000:03

Framing error

A framing error has occurred.

BOOLEAN

RO

0x00 (0dec)

A000:04

Overrun error

An overrun error has occurred.

BOOLEAN

RO

0x00 (0dec)

A000:05

Buffer full

The receive FIFO is full.

BOOLEAN

RO

0x00 (0dec)

A000:11

Data bytes in send buffer

Number of data bytes in the send FIFO

UINT16

RO

0x0000 (0dec)

A000:21

Data bytes in receive buffer

Number of data bytes in the receive FIFO

UINT16

RO

0x0000 (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

 

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index (hex)

Name

Meaning

Data type

Flags

Default

F010:0

Module list

 

UINT8

RW

0x02 (2dec)

F010:01

SubIndex 001

 

UINT32

RW

0x00000258 (600dec)

F010:02

SubIndex 002

 

UINT32

RW

0x00000118 (280dec)