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

0x00FA1389 (16389001dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL2502-0000

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

01

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

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

0x09C63052 (163983442dec)

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 (1048576dec)

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

Index (hex)

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter

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 PWM RxPDO-Par Ch.1 ***

Index (hex)

Name

Meaning

Data type

Flags

Default

1400:0

RxPDO-Par Ch.1

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6dec)

1400:01

Exclude RxPDOs

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

OCTET-STRING[2]

RO

02 16

04 16****

***) from firmware 07
****) from firmware 08

Index 1401 PWM RxPDO-Par Ch.2 ***

Index (hex)

Name

Meaning

Data type

Flags

Default

1401:0

RxPDO-Par Ch.2

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6dec)

1401:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

03 16

05 16****

***) from firmware 07
****) from firmware 08

Index 1402 PWM RxPDO-Par h.1 Ch.1 ***

Index (hex)

Name

Meaning

Data type

Flags

Default

1402:0

RxPDO-Par h.1 Ch.1

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6dec)

1402:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

00 16

04 16****

***) from firmware 07
****) from firmware 08

Index 1403 PWM RxPDO-Par h.1 Ch.2 ***

Index (hex)

Name

Meaning

Data type

Flags

Default

1403:0

RxPDO-Par h.1 Ch.2

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6dec)

1403:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

01 16

05 16****

***) from firmware 07
****) from firmware 08

Index 1404 PWM RxPDO-Par h.1 Ch.1 ****

Index (hex)

Name

Meaning

Data type

Flags

Default

1404:0

RxPDO-Par h.1 Ch.1

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6dec)

1404:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

00 16

02 16

****) from firmware 08

Index 1405 PWM RxPDO-Par h.1 Ch.2 ***

Index (hex)

Name

Meaning

Data type

Flags

Default

1405:0

RxPDO-Par h.1 Ch.2

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6dec)

1405:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

01 16

03 16

****) from firmware 08

Index 1600 RxPDO-Map Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

RxPDO-Map Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x01 (1dec)

1600:01

SubIndex 001

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

UINT32

RO

0x7000:11, 16

Index 1601 RxPDO-Map Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

RxPDO-Map Ch.2

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1dec)

1601:01

SubIndex 001

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

UINT32

RO

0x7010:11, 16

Index 1602 RxPDO-Map h.1 Ch.1 ***

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

RxPDO-Map h.1 Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x02 (2dec)

1602:01

SubIndex 001

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

UINT32

RO

0x7000:11, 16

1602:02

SubIndex 002

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

UINT32

RO

0x7000:12, 16

***) from firmware 07

Index 1603 RxPDO-Map h.1 Ch.2 ***

Index (hex)

Name

Meaning

Data type

Flags

Default

1603:0

RxPDO-Map h.1 Ch.2

PDO Mapping RxPDO 2

UINT8

RO

0x02 (2dec)

1603:01

SubIndex 001

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

UINT32

RO

0x7010:11, 16

1603:02

SubIndex 002

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

UINT32

RO

0x7010:12, 16

***) from firmware 07

Index 1604 RxPDO-Map h.1 Ch.1 ****

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

RxPDO-Map h.1 Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x02 (2dec)

1604:01

SubIndex 001

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

UINT32

RO

0x7000:11, 16

1604:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (PWM Outputs Ch.1), entry 0x13 (PWM period))

UINT32

RO

0x7000:13, 32

****) from firmware 08

Index 1605 RxPDO-Map h.1 Ch.2 ****

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

RxPDO-Map h.1 Ch.2

PDO Mapping RxPDO 2

UINT8

RO

0x02 (2dec)

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 0x13 (PWM period))

UINT32

RO

0x7010:13, 32

****) from firmware 08

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

0x02 (2dec)

1C12:01

Subindex 001

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

UINT16

RO

0x1600 (5632dec)

1C12:02

Subindex 002

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

UINT16

RO

0x1601 (5633dec)

Index 1C32 SyncManager (SM) Output Parameter

The terminal does not support distributed clock functionality! The following descriptions are adapted to the reduced functionality of the EL2502.

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 (33dec)

1C32:01

Sync mode

Current synchronization mode:

  • 0: Free Run
  • 1: Synchron with SM 2 Event

UINT16

RW

0x0001 (1dec)

1C32:02

Cycle time

Cycle time (in ns):

  • Free Run: Cycle time of the local timer
  • Synchron with SM 2 Event: Master 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: 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 (32775dec)

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)

1C32:08

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

0x0000 (0dec)

1C32:09

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)