Standard 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 used CoE profile (5001). The Hi-Word contains the module profile according to the modular device profile.

UINT32

RO

0x038E1389 (59642761dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

PS2001-4810

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

00

Index 100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100B:0

Bootloader version

 

STRING

RO

N/A

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

0x07D14D02 (131157250dec)

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 (0dec)

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 10E2 Manufacturer-specific Identification Code

Index (hex)

Name

Meaning

Data type

Flags

Default

10E2:0

Manufacturer-specific Identification Code

 s. chapter Beckhoff Identification Code (BIC)

UINT8

RO

0x01 (1dec)

10E2:01

SubIndex 001

 

STRING

RO

 

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 10F3 Diagnosis History

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis History

 

UINT8

RO

0x1E (30dec)

10F3:01

Maximum Messages

 

UINT8

RO

0x00 (0dec)

10F3:02

Newest Message

 

UINT8

RO

0x00 (0dec)

10F3:03

Newest Acknowledged Message

 

UINT8

RW

0x00 (0dec)

10F3:04

New Messages Available

 

BOOLEAN

RO

0x00 (0dec)

10F3:05

Flags

 

UINT16

RW

0x0000 (0dec)

10F3:06

Diagnosis Message 001

 

OCTET-STRING[27]

RO

{0}

10F3:07

Diagnosis Message 002

 

OCTET-STRING[27]

RO

{0}

10F3:08

Diagnosis Message 003

 

OCTET-STRING[27]

RO

{0}

10F3:09

Diagnosis Message 004

 

OCTET-STRING[27]

RO

{0}

10F3:0A

Diagnosis Message 005

 

OCTET-STRING[27]

RO

{0}

10F3:0B

Diagnosis Message 006

 

OCTET-STRING[27]

RO

{0}

10F3:0C

Diagnosis Message 007

 

OCTET-STRING[27]

RO

{0}

10F3:0D

Diagnosis Message 008

 

OCTET-STRING[27]

RO

{0}

10F3:0E

Diagnosis Message 009

 

OCTET-STRING[27]

RO

{0}

10F3:0F

Diagnosis Message 010

 

OCTET-STRING[27]

RO

{0}

10F3:10

Diagnosis Message 011

 

OCTET-STRING[27]

RO

{0}

10F3:11

Diagnosis Message 012

 

OCTET-STRING[27]

RO

{0}

10F3:12

Diagnosis Message 013

 

OCTET-STRING[27]

RO

{0}

10F3:13

Diagnosis Message 014

 

OCTET-STRING[27]

RO

{0}

10F3:14

Diagnosis Message 015

 

OCTET-STRING[27]

RO

{0}

10F3:15

Diagnosis Message 016

 

OCTET-STRING[27]

RO

{0}

10F3:16

Diagnosis Message 017

 

OCTET-STRING[27]

RO

{0}

10F3:17

Diagnosis Message 018

 

OCTET-STRING[27]

RO

{0}

10F3:18

Diagnosis Message 019

 

OCTET-STRING[27]

RO

{0}

10F3:19

Diagnosis Message 020

 

OCTET-STRING[27]

RO

{0}

10F3:1A

Diagnosis Message 021

 

OCTET-STRING[27]

RO

{0}

10F3:1B

Diagnosis Message 022

 

OCTET-STRING[27]

RO

{0}

10F3:1C

Diagnosis Message 023

 

OCTET-STRING[27]

RO

{0}

10F3:1D

Diagnosis Message 024

 

OCTET-STRING[27]

RO

{0}

10F3:1E

Diagnosis Message 025

 

OCTET-STRING[27]

RO

{0}

Index 10F8 Timestamp Object

Index (hex)

Name

Meaning

Data type

Flags

Default

10F8:0

Timestamp Object

 

UINT64

RO

 

Index 10F9 Time Distribution Object

Index (hex)

Name

Meaning

Data type

Flags

Default

10F9:0

Time Distribution Object

 

UINT8

RO

0x1 (1dec)

10F9:01

Distributed Time Value

This object can be used to inform the EtherCAT slave of the current time. The time of this object corresponds to the notation for 64-bit EtherCAT timestamps see chapter JSON.

UINT64

RW

 

Index 1600 PSU RxPDO-Map Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

PSU RxPDO-Map Outputs

PDO Mapping RxPDO 1

UINT8

RO

0x02 (2dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (PSU Outputs), entry 0x01 (Disable output))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

Index 1A00 PSU TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

PSU TxPDO-Map Inputs

PDO Mapping TxPDO 1

UINT8

RO

0x07 (7dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (PSU Inputs), entry 0x01 (Warning))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (PSU Inputs), entry 0x02 (Error))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (PSU Inputs), entry 0x04 (DC OK))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (28 bits align)

UINT32

RO

0x0000:00, 28

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (PSU Inputs), entry 0x11 (Output voltage))

UINT32

RO

0x6000:11, 32

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (PSU Inputs), entry 0x12 (Output current))

UINT32

RO

0x6000:12, 32

Index 1A01 PSU TxPDO-Map Synchron info data

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

PSU TxPDO-Map Synchron info data

PDO Mapping TxPDO 2

UINT8

RO

0x02 (2dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (PSU Inputs), entry 0x15 (Info data 1))

UINT32

RO

0x6000:15, 16

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (PSU Inputs), entry 0x16 (Info data 2))

UINT32

RO

0x6000:16, 16

Index 1A80 PSU TxPDO-Map Inputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1A80:0

PSU TxPDO-Map Inputs Device

PDO Mapping TxPDO 2

UINT8

RO

0x03 (3dec)

1A80:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A80:02

SubIndex 002

2. PDO Mapping entry (object 0xF614 (PSU Inputs), entry 0x03 (Input undervoltage))

UINT32

RO

0xF614:03, 1

1A80:03

SubIndex 003

3. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 13

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

RO

0x01 (1dec)

1C12:01

Subindex 001

 

UINT16

RO

 

Index 1C13 TxPDO assign

For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO assignment (“TxPDO assign”, object 0x1C13) successively.

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x01 (1dec)

1C13:01

Subindex 001

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

UINT16

RW

0x1A00 (6656dec)

1C13:02

Subindex 002

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

UINT16

RW

0x1A80 (6784dec)

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: cycle time of the master
  • DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x00000000 (0dec)

1C32:03

Shift time

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

UINT32

RO

0x00000000 (0dec)

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 0x1C32:08)

UINT16

RO

0x0001 (1dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0dec)

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

0x00000000 (0dec)

1C32:08

Get Cycle Time

  • 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 (0dec)

1C32:09

Maximum delay time

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

UINT32

RO

0x00000000 (0dec)

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

Cycle time (in ns):

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

UINT32

RW

0x000F4240 (1000000dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0dec)

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

0x0001 (1dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000dec)

1C33:06

Calc and copy time

Time between reading of the inputs and the inputs being available for the master (in ns, only DC mode)

UINT32

RO

0x00000000 (0dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C33:08

Get Cycle Time

  • 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 (0dec)

1C33:09

Maximum delay time

Time between SYNC1 event and reading of the inputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

Number of missed SM events in OPERATIONAL (DC mode only)

UINT16

RO

0x0000 (0dec)

1C33:0C

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)

1C33:0D

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)

1C33:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC mode only)

BOOLEAN

RO

0x00 (0dec)