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

0x012C1389 (19665801_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL31xx

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

-

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

0xXXXX3052

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 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

-

1800:0

AI TxPDO-Par Standard 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[2]

RO

01 1A

1801:0

AI TxPDO-Par Compact Ch.1

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[2]

RO

00 1A

1A0n:0

AI TxPDO-Map standard

PDO Mapping TxPDO

UINT8

RO

0x0B (11_dec)

1A0n:01

SubIndex 001

1. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x01 (Underrange))

UINT32

RO

0x60p0:01, 1

1A0n:02

SubIndex 002

2. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x02 (Overrange))

UINT32

RO

0x60p0:02, 1

1A0n:03

SubIndex 003

3. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x60p0:03, 2

1A0n:04

SubIndex 004

4. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x60p0:05, 2

1A0n:05

SubIndex 005

5. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x07 (Error))

UINT32

RO

0x60p0:07, 2

1A0n:06

SubIndex 006

6. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A0n:07

SubIndex 007

7. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A0n:08

SubIndex 008

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

UINT32

RO

0x1C32:20, 1

1A0n:09

SubIndex 009

9. PDO Mapping entry (object 0x180n (AI TxPDO-Par standard), entry 0x07 (TxPDO State))

UINT32

RO

0x180n:07, 1

1A0n:0A

SubIndex 010

10. PDO Mapping entry (object 0x180n (AI TxPDO-Par standard), entry 0x09 (TxPDO Toggle))

UINT32

RO

0x180n:09, 1

1A0n:0B

SubIndex 011

11. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x60p0:11, 16

1A01:0

AI TxPDO-Map Compact Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x01 (1_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value))

UINT32

RO

0x6000:11, 16

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

0x00 (0_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x04 (4_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

0x1A02 (6658_dec)

1C13:03*

SubIndex 003

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

UINT16

RW

0x1A04 (6660_dec)

1C13:04*

SubIndex 004

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

UINT16

RW

0x1A06 (6662_dec)

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

0x20 (32_dec)

1C33:01

Sync mode

Current synchronization mode:

• Bit 0 = 0: Free Run
• Bit 0 = 1: Synchron with SM 2 Event
• Bit 15 = 0: Standard
• Bit 15 = 1: FastOp mode (CoE deactivated)

UINT16

RW

0x0000 (0_dec)

1C33:02

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)

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 0x1C33:08)

UINT16

RO

0xC003 (49155_dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0000FDE8 (65000_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

Get cycle time

With this entry the real required process data provision time can be measured.

• 0: Measurement of the local cycle time is stopped
• 1: Measurement of the local cycle time is started

The entries 0x1C33:03, 0x1C33:06, 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset.

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

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

UINT16

RO

0x0000 (0_dec)

1C33:0C

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)

1C33:0D

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)

1C33:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC mode only)

BOOLEAN

RO

0x00 (0_dec)

F009:0

Password protection

Password protection for user calibration

UINT32

RW

0x00000000 (0_dec)