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

0x00C91389 (13177737_dez)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL2068

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

100B:0B

Bootloader version

Bootloader version

STRING

RO

00

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

0x08143052 (135540818_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

0x00000000 (0_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)

10E2:0

Manufacturer-specific identification code

Manufacturer specific identification code

STRING

RO

00

10E2:01

SubIndex 001

STRING

RO

00

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)

16n0:0

DOS RxPDO-Map Oputputs

PDO Mapping RxPDO 1

UINT8

RO

0x10 (16_dez)

16n0:01

SubIndex 001

1. PDO Mapping entry (object 0x70n0 (DOS Outputs Ch.n), entry 0x01 (Output))

UINT32

RO

0x70n0:01, 1

1An0:0

DOS TxPDO-Map Diag Inputs

PDO Mapping TxPDO 1

UINT8

RO

0x01 (1_dez)

1An0:01

SubIndex 001

1. PDO Mapping entry (object 0x60n0 (DOS Diagnosis Ch.n), entry 0x02 (Overload))

UINT32

RO

0x60n0:02, 1

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

0x1600 (5632_dec)

1C12:02

Subindex 002

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

UINT16

RW

0x1610 (5648_dec)

1C12:03

Subindex 003

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

UINT16

RW

0x1620 (5664_dec)

1C12:04

Subindex 004

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

UINT16

RW

0x1630 (5680_dec)

1C12:05

Subindex 005

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

UINT16

RW

0x1640 (5696_dec)

1C12:06

Subindex 006

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

UINT16

RW

0x1650 (5712_dec)

1C12:07

Subindex 007

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

UINT16

RW

0x1660 (5728_dec)

1C12:08

Subindex 008

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

UINT16

RW

0x16700 (5744_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x02 (2_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

0x1A10 (6672_dec)

1C13:03

Subindex 003

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

UINT16

RW

0x1A20 (6688_dec)

1C13:04

Subindex 004

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

UINT16

RW

0x1A30 (6704_dec)

1C13:05

Subindex 005

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

UINT16

RW

0x1A40 (6720_dec)

1C13:06

Subindex 006

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

UINT16

RW

0x1A50 (6736_dec)

1C13:07

Subindex 007

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

UINT16

RW

0x1A60 (6752_dec)

1C13:08

Subindex 008

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

UINT16

RW

0x1A70 (6768_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

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

0x000F4240 (1000000_dec)

1C32:03

Shift time

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

UINT32

RO

0x00000384 (900_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 by writing 0x1C32:08) (for revision no.: 17 – 25)

UINT16

RO

0x8002 (32770_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)
Default: 10 ms

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

0x00000384 (900_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

0x00000384 (900_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 - Synchronous with SYNC1 Event
• 34: Synchronous with SM 2 event (outputs available)

UINT16

RW

0x0022 (34_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

0x00000384 (900_dec)

1C33:04

Sync modes supported

Supported synchronization modes:

• Bit 0 = 1: free run is supported
• Bit 1 = 1: synchronous with SM 2 event is supported (outputs available)
• Bit 1 = 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 by writing 0x1C32:08) (for revision no.: 17 – 25)

UINT16

RO

0x8002 (32770_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

0x00000384 (900_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

0x00000384 (900_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)

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2_dec)

F000:01

Module index distance

Index spacing of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0008 (8_dez)

F008:0

Code word

NoCoeStorage function:

The input code of the code word 0x12345678 activates the NoCoeStorage function:
Changes to the CoE directory are not saved if the function is active. The function is deactivated by:
1.) changing the code word or
2.) restarting the terminal.

UINT32

RW

0x00000000 (0_dec)