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

0x00001389 (5001_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL2521

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

05

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

06

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

0x09D93052 (165228626_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

0x03F80000 (66584576_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 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)

1400:0

RxPDO-Par

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6_dec)

1400:06

Exclude RxPDOs

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

OCTET-STRING[10]

RO

01 16 04 16 07 16 02 16 05 16

1401:0

PTO RxPDO-Par Control

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6_dec)

1401:06

Exclude RxPDOs

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

OCTET-STRING[10]

RO

00 16 00 00 00 00 00 00 00 00

1402:0

ENC RxPDO-Par Control compact

PDO Parameter RxPDO 3

UINT8

RO

0x06 (6_dec)

1402:06

Exclude RxPDOs

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

OCTET-STRING[10]

RO

00 16 05 16 07 16 00 00 00 00

1404:0

PTO RxPDO-Par Target compact

PDO Parameter RxPDO 5

UINT8

RO

0x06 (6_dec)

1404:06

Exclude RxPDOs

Specifies the RxPDOs (index (hex) of RxPDO mapping objects) that must not be transferred together with RxPDO 5

OCTET-STRING[10]

RO

00 16 05 16 07 16 00 00 00 00

1405:0

ENC RxPDO-Par Control

PDO Parameter RxPDO 6

UINT8

RO

0x06 (6_dec)

1405:06

Exclude RxPDOs

Specifies the RxPDOs (index (hex) of RxPDO mapping objects) that must not be transferred together with RxPDO 6

OCTET-STRING[10]

RO

00 16 02 16 04 16 00 00 00 00

1407:0

PTO RxPDO-Par Target

PDO Parameter RxPDO 8

UINT8

RO

0x06 (6_dec)

1407:06

Exclude RxPDOs

Specifies the RxPDOs (index (hex) of RxPDO mapping objects) that must not be transferred together with RxPDO 8

OCTET-STRING[10]

RO

00 16 02 16 04 16 00 00 00 00

1600:0

RxPDO-Map

PDO Mapping RxPDO 1

UINT8

RO

0x02 (2_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (Outputs), entry 0x01 (Ctrl))

UINT32

RO

0x7000:01, 16

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (Outputs), entry 0x02 (Data Out))

UINT32

RO

0x7000:02, 16

1601:0

PTO RxPDO-Map Control

PDO Mapping RxPDO 2

UINT8

RO

0x06 (6_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (PTO Outputs), entry 0x01 (Frequency select))

UINT32

RO

0x7010:01, 1

1601:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (PTO Outputs), entry 0x02 (Disable ramp))

UINT32

RO

0x7010:02, 1

1601:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (PTO Outputs), entry 0x03 (Go counter))

UINT32

RO

0x7010:03, 1

1601:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1601:05

SubIndex 005

5. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1601:06

SubIndex 006

6. PDO Mapping entry (object 0x7010 (PTO Outputs), entry 0x11 (Frequency value))

UINT32

RO

0x7010:11, 16

1602:0

ENC RxPDO-Map Control compact

PDO Mapping RxPDO 3

UINT8

RO

0x05 (5_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7020 (ENC Outputs), entry 0x03 (Set counter))

UINT32

RO

0x7020:03, 1

1602:03

SubIndex 003

3. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1602:04

SubIndex 004

4. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1602:05

SubIndex 005

5. PDO Mapping entry (object 0x7020 (ENC Outputs), entry 0x11 (Set counter value))

UINT32

RO

0x7020:11, 16

1604:0

PTO RxPDO-Map Target compact

PDO Mapping RxPDO 5

UINT8

RO

0x01 (1_dec)

1604:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (PTO Outputs), entry 0x12 (Target counter value))

UINT32

RO

0x7010:12, 16

1605:0

ENC RxPDO-Map Control

PDO Mapping RxPDO 6

UINT8

RO

0x05 (5_dec)

1605:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1605:02

SubIndex 002

2. PDO Mapping entry (object 0x7020 (ENC Outputs), entry 0x03 (Set counter))

UINT32

RO

0x7020:03, 1

1605:03

SubIndex 003

3. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1605:04

SubIndex 004

4. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1605:05

SubIndex 005

5. PDO Mapping entry (object 0x7020 (ENC Outputs), entry 0x11 (Set counter value))

UINT32

RO

0x7020:11, 32

1607:0

PTO RxPDO-Map Target

PDO Mapping RxPDO 8

UINT8

RO

0x01 (1_dec)

1607:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (PTO Outputs), entry 0x12 (Target counter value))

UINT32

RO

0x7010:12, 32

1800:0

TxPDO-Par

PDO parameter TxPDO 1

UINT8

RO

0x06 (6_dec)

1800:06

Exclude TxPDOs

Specifies the TxPDOs (index (hex) of TxPDO mapping objects) that must not be transferred together with TxPDO 1

OCTET-STRING[6]

RO

01 1A 02 1A 05 1A

1801:0

PTO TxPDO-Par Status

PDO parameter TxPDO 2

UINT8

RO

0x09 (9_dec)

1801:06

Exclude TxPDOs

Specifies the TxPDOs (index (hex) of TxPDO mapping objects) that must not be transferred together with TxPDO 2

OCTET-STRING[6]

RO

00 1A 00 00 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

ENC TxPDO-Par Status compact

PDO parameter TxPDO 3

UINT8

RO

0x09 (9_dec)

1802:06

Exclude TxPDOs

Specifies the TxPDOs (index (hex) of TxPDO mapping objects) that must not be transferred together with TxPDO 3

OCTET-STRING[6]

RO

05 1A 00 1A 00 00

1802:09

TxPDO Toggle

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

BOOLEAN

RO

0x00 (0_dec)

1805:0

ENC TxPDO-Par Status

PDO parameter TxPDO 6

UINT8

RO

0x09 (9_dec)

1805:06

Exclude TxPDOs

Specifies the TxPDOs (index (hex) of TxPDO mapping objects) that must not be transferred together with TxPDO 6

OCTET-STRING[6]

RO

02 1A 00 1A 00 00

1805:09

TxPDO Toggle

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

BOOLEAN

RO

0x00 (0_dec)

1A00:0

TxPDO-Map

PDO Mapping TxPDO 1

UINT8

RO

0x02 (2_dec)

1A00:01

SubIndex 001

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

UINT32

RO

0x6000:01, 16

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (Inputs), entry 0x02 (Data In))

UINT32

RO

0x6000:02, 16

1A01:0

PTO TxPDO-Map Status

PDO Mapping TxPDO 2

UINT8

RO

0x0A (10_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (PTO Inputs), entry 0x01 (Sel. Ack/End counter))

UINT32

RO

0x6010:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (PTO Inputs), entry 0x02 (Ramp active))

UINT32

RO

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (PTO Inputs), entry 0x05 (Status of input target))

UINT32

RO

0x6010:05, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (PTO Inputs), entry 0x06 (Status of input zero))

UINT32

RO

0x6010:06, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (PTO Inputs), entry 0x07 (Error))

UINT32

RO

0x6010:07, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

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 (PTO TxPDO-Par Status), entry 0x09 (TxPDO-Toggle))

UINT32

RO

0x1801:09, 1

1A02:0

ENC TxPDO-Map Status compact

PDO Mapping TxPDO 3

UINT8

RO

0x0A (10_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (ENC Inputs), entry 0x03 (Set counter done))

UINT32

RO

0x6020:03, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (ENC Inputs), entry 0x04 (Counter underflow))

UINT32

RO

0x6020:04, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (ENC Inputs), entry 0x05 (Counter overflow))

UINT32

RO

0x6020:05, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A02:06

SubIndex 006

6. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A02:07

SubIndex 007

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

UINT32

RO

0x1C32:20, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x1802 (ENC TxPDO-Par Status compact), entry 0x09 (TxPDO-Toggle))

UINT32

RO

0x1802:09, 1

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x6020 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6020:11, 16

1A05:0

ENC TxPDO-Map Status

PDO Mapping TxPDO 6

UINT8

RO

0x0A (10_dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A05:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (ENC Inputs), entry 0x03 (Set counter done))

UINT32

RO

0x6020:03, 1

1A05:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (ENC Inputs), entry 0x04 (Counter underflow))

UINT32

RO

0x6020:04, 1

1A05:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (ENC Inputs), entry 0x05 (Counter overflow))

UINT32

RO

0x6020:05, 1

1A05:05

SubIndex 005

5. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A05:06

SubIndex 006

6. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A05:07

SubIndex 007

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

UINT32

RO

0x1C32:20, 1

1A05:08

SubIndex 008

8. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A05:09

SubIndex 009

9. PDO Mapping entry (object 0x1805 (ENC TxPDO-Par Status), entry 0x09 (TxPDO-Toggle))

UINT32

RO

0x1805:09, 1

1A05:0A

SubIndex 010

10. PDO Mapping entry (object 0x6020 (ENC 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 (hex) of the associated RxPDO mapping object)

UINT16

RW

0x1600 (5632_dec)

1C12:02

SubIndex 002

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

UINT16

RW

0x0000 (0_dec)

1C12:03

SubIndex 003

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

UINT16

RW

0x1A00 (6656_dec)

1C13:02

SubIndex 002

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

UINT16

RW

0x0000 (0_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
• 2: DC-Mode - Synchron with SYNC0 Event
• 3: DC-Mode - Synchron with SYNC1 Event

UINT16

RW

0x0001 (1_dec)

1C32:02

Cycle time

Cycle time (in ns):

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

UINT32

RW

0x001E8480 (2000000_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: 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

0xC007 (49159_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

0x20 (32_dec)

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

0x0022 (34_dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

0x001E8480 (2000000_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: 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

0xC007 (49159_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

RW

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)