Standard objects

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

0x00961389 (9835401_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL1502

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

02

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

0x05DE3052 (98447442_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

0x00100000 (1048576_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

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)

1400:0

CNT RxPDO-Par Ch.1

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6_dec)

1400:06

Exclude RxPDOs

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

OCTET-STRING[4]

RO

02 16 00 00

1401:0

CNT RxPDO-Par Ch.2

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6_dec)

1401:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 2

OCTET-STRING[4]

RO

02 16 00 00

1402:0

CNT RxPDO-Par

PDO Parameter RxPDO 3

UINT8

RO

0x06 (6_dec)

1402:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 3

OCTET-STRING[4]

RO

00 16 01 16

1600:0

CNT RxPDO-Map Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x06 (6_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (CNT Outputs Ch.1), entry 0x01 (Enable output functions))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (CNT Outputs Ch.1), entry 0x02 (Set output))

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (CNT Outputs Ch.1), entry 0x03 (Set counter))

UINT32

RO

0x7000:03, 1

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (CNT Outputs Ch.1), entry 0x04 (Inhibit counter))

UINT32

RO

0x7000:04, 1

1600:05

SubIndex 005

5. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1600:06

SubIndex 006

6. PDO Mapping entry (object 0x7000 (CNT Outputs Ch.1), entry 0x11 (Set counter value))

UINT32

RO

0x7000:11, 32

1601:0

CNT RxPDO-Map Ch.2

PDO Mapping RxPDO 2

UINT8

RO

0x06 (6_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (CNT Outputs Ch.2), entry 0x01 (Enable output functions))

UINT32

RO

0x7010:01, 1

1601:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (CNT Outputs Ch.2), entry 0x02 (Set output))

UINT32

RO

0x7010:02, 1

1601:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (CNT Outputs Ch.2), entry 0x03 (Set counter))

UINT32

RO

0x7010:03, 1

1601:04

SubIndex 004

4. PDO Mapping entry (object 0x7010 (CNT Outputs Ch.2), entry 0x04 (Inhibit counter))

UINT32

RO

0x7010:04, 1

1601:05

SubIndex 005

5. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1601:06

SubIndex 006

6. PDO Mapping entry (object 0x7010 (CNT Outputs Ch.2), entry 0x11 (Set counter value))

UINT32

RO

0x7010:11, 32

1602:0

CNT RxPDO-Map

PDO Mapping RxPDO 3

UINT8

RO

0x06 (6_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (CNT Outputs), entry 0x01 (Enable output functions))

UINT32

RO

0x7020:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7020 (CNT Outputs), entry 0x02 (Set output))

UINT32

RO

0x7020:02, 1

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7020 (CNT Outputs), entry 0x03 (Set counter))

UINT32

RO

0x7020:03, 1

1602:04

SubIndex 004

4. PDO Mapping entry (object 0x7020 (CNT Outputs), entry 0x04 (Inhibit counter))

UINT32

RO

0x7020:04, 1

1602:05

SubIndex 005

5. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1602:06

SubIndex 006

6. PDO Mapping entry (object 0x7020 (CNT Outputs), entry 0x11 (Set counter value))

UINT32

RO

0x7020:11, 32

1800:0

CNT TxPDO-Par 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[4]

RO

02 1A 00 00

1800:09

TxPDO-Toggle

The TxPDO toggle is toggled with each update the corresponding input data

BOOLEAN

RO

0x00 (0_dec)

1801:0

CNT TxPDO-Par Ch.2

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[4]

RO

02 1A 00 00

1801:09

TxPDO-Toggle

The TxPDO toggle is toggled with each update the corresponding input data

BOOLEAN

RO

0x00 (0_dec)

1802:0

CNT TxPDO-Par

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[4]

RO

00 1A 01 1A

1802:09

TxPDO-Toggle

The TxPDO toggle is toggled with each update the corresponding input data

BOOLEAN

RO

0x00 (0_dec)

1A00:0

CNT TxPDO-Map Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x0B (11_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (CNT Inputs Ch.1), entry 0x01 (Output functions enabled))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (CNT Inputs Ch.1), entry 0x02 (Status of output))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (CNT Inputs Ch.1), entry 0x03 (Set counter done))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (CNT Inputs Ch.1), entry 0x04 (Counter inhibited))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (CNT Inputs Ch.1), entry 0x06 (Status of input clock))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x1C32 (SM output parameter), entry 0x20 (Sync error))

UINT32

RO

0x1C32:20, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x1800 (CNT TxPDO-Par Ch.1), entry 0x09 (TxPDO-Toggle))

UINT32

RO

0x1800:09, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (CNT Inputs Ch.1), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

1A01:0

CNT TxPDO-Map Ch.2

PDO Mapping TxPDO 2

UINT8

RO

0x0B (11_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (CNT Inputs Ch.2), entry 0x01 (Output functions enabled))

UINT32

RO

0x6010:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (CNT Inputs Ch.2), entry 0x02 (Status of output))

UINT32

RO

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (CNT Inputs Ch.2), entry 0x03 (Set counter done))

UINT32

RO

0x6010:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (CNT Inputs Ch.2), entry 0x04 (Counter inhibited))

UINT32

RO

0x6010:04, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (CNT Inputs Ch.2), entry 0x06 (Status of input clock))

UINT32

RO

0x6010:06, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x1C32 (SM output parameter), entry 0x20 (Sync error))

UINT32

RO

0x1C32:20, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x1801 (CNT TxPDO-Par Ch.2), entry 0x09 (TxPDO-Toggle))

UINT32

RO

0x1801:09, 1

1A01:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (CNT Inputs Ch.2), entry 0x11 (Counter value))

UINT32

RO

0x6010:11, 32

1A02:0

CNT TxPDO-Map

PDO Mapping TxPDO 3

UINT8

RO

0x0B (11_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x01 (Output functions enabled))

UINT32

RO

0x6020:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x02 (Status of output))

UINT32

RO

0x6020:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x03 (Set counter done))

UINT32

RO

0x6020:03, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x04 (Counter inhibited))

UINT32

RO

0x6020:04, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x05 (Status of input UD))

UINT32

RO

0x6020:05, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x06 (Status of input clock))

UINT32

RO

0x6020:06, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x1C32 (SM output parameter), entry 0x20 (Sync error))

UINT32

RO

0x1C32:20, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x1802 (CNT TxPDO-Par), entry 0x09 (TxPDO-Toggle))

UINT32

RO

0x1802:09, 1

1A02:0B

SubIndex 011

11. PDO Mapping entry (object 0x6020 (CNT Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6020:11, 32

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

0x01 (1_dec)

1C12:01

Subindex 001

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

UINT16

RW

0x1602 (5634_dec)

1C12:02

Subindex 002

2. 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

0x01 (1_dec)

1C13:01

Subindex 001

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

UINT16

RW

0x1A02 (6658_dec)

1C13:02

Subindex 002

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

UINT16

RW

0x0000 (0_dec)

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

0x07 (7_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

0x0001 (1_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

0x00000000 (0_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

0x8007 (32775_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0_dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0_dec)

1C32:08

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

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

0x07 (7_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 - Synchronous with SYNC1 Event
• 34: Synchronous with SM 2 event (outputs available)

UINT16

RO

0x0022 (34_dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RO

0x00000000 (0_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: synchronous with SM 2 event is supported (outputs available)
• Bit 1: synchronous 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

0x8007 (32775_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x00000000 (0_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)

1C33:08

Command

as 0x1C32:08

UINT16

RO

0x0000 (0_dec)

1C33:09

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)