Standard objects (0x1000-0x1FFF)

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

0x00FA1389 (16389001_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL2502-0010

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

-

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

-

100A:0

Bootloader version

Version of Bootloader

STRING

RO

-

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

0x09C63052 (163983442_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

-

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

-

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)

10F8:0

Actual Time Stamp

Timestamp

UINT64

RO

0x0000000000000000 (0_dec)

1400:0

RxPDO-Par Outputs Ch.1

PDO Parameter Outputs Ch.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 this RxPDO

OCTET-STRING[2]

RO

01 16 02 16 03 16

1401:0

RxPDO-Par Per. Outputs Ch.1

PDO Parameter Per. Outputs Ch. 1

UINT8

RO

0x06 (6_dec)

1401:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

00 16 02 16 03 16

1402:0

RxPDO-Par DC Outputs Ch.1

PDO Parameter DC Outputs Ch.1

UINT8

RO

0x06 (6_dec)

1402:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

00 16 01 16 03 16

1403:0

RxPDO-Par Per, DC Outputs Ch.1

PDO Parameter Per, DC Outputs Ch.1

UINT8

RO

0x06 (6_dec)

1403:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

00 16 01 16 02 16

1404:0

RxPDO-Par Outputs Ch.2

PDO Parameter Outputs Ch.2

UINT8

RO

0x06 (6_dec)

1404:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

05 16 06 16 07 16

1405:0

RxPDO-Par Per. Outputs Ch.2

PDO Parameter Per. Outputs Ch.2

UINT8

RO

0x06 (6_dec)

1405:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

04 16 06 16 07 16

1406:0

RxPDO-Par DC Outputs Ch.2

PDO Parameter DC Outputs Ch.2

UINT8

RO

0x06 (6_dec)

1406:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

04 16 05 16 07 16

1407:0

RxPDO-Par Per, DC Outputs Ch.2

PDO Parameter Per, DC Outputs Ch.2

UINT8

RO

0x06 (6_dec)

1407:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

04 16 05 16 06 16

1600:0

RxPDO-Map Outputs Ch.1

PDO Mapping Outputs Ch.1

UINT8

RO

0x01 (1_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x11 (PWM output))

UINT32

RO

0x7000:11, 16

1601:0

RxPDO-Map Per. Outputs Ch.1

PDO Mapping Per. Outputs Ch.1

UINT8

RO

0x02 (2_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x11 (PWM output))

UINT32

RO

0x7000:11, 16

1601:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x12 (PWM period))

UINT32

RO

0x7000:12, 16

1602:0

PWM RxPDO-Map DC Outputs Ch.1

PDO Mapping DC Outputs Ch.1

UINT8

RO

0x0A (10_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x01 (Activate permanent))

UINT32

RO

0x7000:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x02 (Activate DC start time)

UINT32

RO

0x7000:02, 1

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x03 (DC Immediately)

UINT32

RO

0x7000:03, 1

1602:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x04 (ErrAck)

UINT32

RO

0x7000:04, 1

1602:05

SubIndex 005

5. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x05 (DCSyncOutCh2)

UINT32

RO

0x7000:05, 1

1602:06

SubIndex 006

6. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1602:07

SubIndex 007

7. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1602:08

SubIndex 008

8. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x11 (PWM output)

UINT32

RO

0x7000:11, 16

1602:09

SubIndex 009

9. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x12 (PWM period)

UINT32

RO

0x7000:12, 16

1602:0A

SubIndex 010

10. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x13 (DC start time)

UINT32

RO

0x7000:13, 64

1603:0

PWM RxPDO-Map Per, DC Outputs Ch.1

PDO Mapping Per, DC Outputs Ch.1

UINT8

RO

0x0A (10_dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x01 (Activate permanent))

UINT32

RO

0x7000:01, 1

1603:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x02 (Activate DC start time)

UINT32

RO

0x7000:02, 1

1603:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x03 (DC Immediately)

UINT32

RO

0x7000:03, 1

1603:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x04 (ErrAck)

UINT32

RO

0x7000:04, 1

1603:05

SubIndex 005

5. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x05 (DCSyncOutCh2)

UINT32

RO

0x7000:05, 1

1603:06

SubIndex 006

6. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1603:07

SubIndex 007

7. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1603:08

SubIndex 008

8. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x11 (PWM output)

UINT32

RO

0x7000:11, 16

1603:09

SubIndex 009

9. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x12 (PWM period)

UINT32

RO

0x7000:12, 16

1603:0A

SubIndex 010

10. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x13 (DC start time)

UINT32

RO

0x7000:13, 64

1604:0

RxPDO-Map Outputs Ch.2

PDO Mapping Outputs Ch.2

UINT8

RO

0x01 (1_dec)

1604:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x11 (PWM output))

UINT32

RO

0x7010:11, 16

1605:0

RxPDO-Map Per. Outputs Ch.2

PDO Mapping Per. Outputs Ch.2

UINT8

RO

0x02 (2_dec)

1605:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x11 (PWM output))

UINT32

RO

0x7010:11, 16

1605:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x12 (PWM period))

UINT32

RO

0x7010:12, 16

1606:0

PWM RxPDO-Map DC Outputs Ch.2

PDO Mapping DC Outputs Ch.2

UINT8

RO

0x0A (10_dec)

1606:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.1), entry 0x01 (Activate permanent))

UINT32

RO

0x7010:01, 1

1606:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x02 (Activate DC start time)

UINT32

RO

0x7010:02, 1

1606:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x03 (DC Immediately)

UINT32

RO

0x7010:03, 1

1606:04

SubIndex 004

4. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x04 (ErrAck)

UINT32

RO

0x7010:04, 1

1606:05

SubIndex 005

5. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x05 (DCSyncOutCh2)

UINT32

RO

0x7010:05, 1

1606:06

SubIndex 006

6. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1606:07

SubIndex 007

7. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1606:08

SubIndex 008

8. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x11 (PWM output)

UINT32

RO

0x7010:11, 16

1606:09

SubIndex 009

9. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x12 (PWM period)

UINT32

RO

0x7010:12, 16

1606:0A

SubIndex 010

10. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x13 (DC start time)

UINT32

RO

0x7010:13, 64

1607:0

PWM RxPDO-Map Per, DC Outputs Ch.1

PDO Mapping Per, DC Outputs Ch.2

UINT8

RO

0x09 (9_dec)

1607:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x01 (Activate permanent))

UINT32

RO

0x7010:01, 1

1607:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x02 (Activate start time)

UINT32

RO

0x7010:02, 1

1607:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x03 (DC Immediately)

UINT32

RO

0x7010:03, 1

1607:04

SubIndex 004

4. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x04 (ErrAck)

UINT32

RO

0x7010:04, 1

1607:05

SubIndex 005

5. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x05 (DCSyncOutCh2)

UINT32

RO

0x7010:05, 1

1607:06

SubIndex 006

6. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1607:07

SubIndex 007

7. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1607:08

SubIndex 008

8. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x11 (PWM output)

UINT32

RO

0x7010:11, 64

1607:09

SubIndex 009

9. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x12 (PWM period)

UINT32

RO

0x7010:12, 64

1607:0A

SubIndex 010

10. PDO Mapping entry (object 0x7010 (PWM Outputs Ch.2), entry 0x13 (DC Start time)

UINT32

RO

0x7010:13, 64

1A00:0

TxPDO-Map Inputs Ch.1

PDO Mapping Inputs Ch.1

UINT8

RO

0x07 (7_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (PWM Inputs Ch.1), entry 0x01 (Overtemperature))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (PWM Inputs Ch.1), entry 0x04 (Short Circuit to 24 V))

UINT32

RO

0x6000:04, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (PWM Inputs Ch.1), entry 0x05 (Feedback PWM))

UINT32

RO

0x6000:05, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (PWM Inputs Ch.1), entry 0x06 (Err. Start Time))

UINT32

RO

0x6000:06, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A00:07

SubIndex 007

7. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A01:0

TxPDO-Map Inputs Ch.2

PDO Mapping Inputs Ch.1

UINT8

RO

0x01 (1_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (Sys Time), entry 0x11 (SysTime))

UINT32

RO

0x6001:11, 64

1A02:0

TxPDO-Map Inputs Ch.2

PDO Mapping Inputs Ch.2

UINT8

RO

0x07 (7_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (PWM Inputs Ch.2), entry 0x01 (Overtemperature))

UINT32

RO

0x6010:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (PWM Inputs Ch.2), entry 0x04 (Short Circuit to 24 V))

UINT32

RO

0x6010:04, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (PWM Inputs Ch.2), entry 0x05 (Feedback PWM))

UINT32

RO

0x6010:05, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (PWM Inputs Ch.2), entry 0x06 (Err. Start Time))

UINT32

RO

0x6010:06, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A02:07

SubIndex 007

7. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (PWM Inputs Ch.2), entry 0x0D (Diag))

UINT32

RO

0x6010:0D, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A03:0

TxPDO-Map Inputs Ch.2

PDO Mapping Inputs Ch.1

UINT8

RO

0x01 (1_dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (Sys Time), entry 0x11 (SysTime))

UINT32

RO

0x6001:11, 64

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

RO

0x02 (2_dec)

1C12:01

Subindex 001

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

UINT16

RO

0x1603 (5635_dez)

1C12:02

Subindex 002

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

UINT16

RO

0x1607 (5639_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RO

0x04 (4_dec)

1C13:01

Subindex 001

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

UINT16

RO

0x1A00 (6656_dec)

1C13:02

Subindex 002

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

UINT16

RO

0x1A01 (6657_dec)

1C13:03

Subindex 003

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

UINT16

RO

0x1A02 (6658_dec)

1C13:04

Subindex 004

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

UINT16

RO

0x1A03 (6659_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: Synchron with SM 2 Event

UINT16

RW

0x0000 (0_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

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

0x4001
(16385_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)

1C32:07

Minimum delay time

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 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x00000000 (0_dec)

1C32:09

Delay time

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

UINT32

RO

0x0000 (0_dec)

1C32:0B

SM event missed counter

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

UINT16

RO

0x00000000 (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

0x0000 (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 - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchronous with SM 2 event (outputs available)

UINT16

RW

0x0000 (0_dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

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 = 1: free run is supported
• Bit 1 = 1: synchronous with SM 2 event is supported
• Bit 2-3 = 01: DC mode is supported
• Bit 14 = 1: dynamic times (measurement by writing 0x1C32:08) (for revision no.: 17 – 25)

UINT16

RO

0x4001
(16385_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)

1C33:07

Minimum delay time

UINT32

RO

0x00000000 (0_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

0x00000000 (0_dec)

1C33:0B

SM event missed counter

as 0x1C32:0B

UINT16

RO

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:0C

UINT16

RO

0x0000 (0_dec)

1C33:0D

Shift too short counter

as 0x1C32:0D

UINT16

RO

0x0000 (0_dec)

1C33:20

Sync error

as 0x1C32:20

BOOLEAN

RO

0x00 (0_dec)