Standard objects

1000:0

Device type

Device type of the EtherCAT slave: the Lo-Word contains the profile used (5001).

UINT32

RO

0x01541389

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL3403

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

01

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

1018:0

Identity

Length of this object

UINT8

RO

4

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

2

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

0x0D4B3052 (223031378_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

0x00100000 (1048576_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

e.g. 0x00001E06 (KW 30/2006)

10F0:0

Backup parameter

Length of this object

UINT8

RO

0x01

10F0:01

Checksum

Checksum

UINT32

RW

0x00000000 (0_dec)

1600:0

RxPDO-Map Ch.1

PDO mapping of RxPDO 1

UINT8

RO

0x01

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (PM Outputs Ch.1), entry 0x01 (Index))

UINT32

RW

0x7000:01, 8

1601:0

RxPDO-Map Ch.2

PDO mapping of RxPDO 2

UINT8

RO

0x01 (1_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (PM Outputs Ch.2), entry 0x01 (Index))

UINT32

RW

0x7010:01, 8

1602:0

RxPDO-Map Ch.3

PDO mapping of RxPDO 3

UINT8

RO

0x01 (1_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (PM Outputs Ch.3), entry 0x01 (Index))

UINT32

RW

0x7020:01, 8

1A00:0

TxPDO-Map Ch.1

PDO Mapping of TxPDO 1

UINT8

RO

0x0A (10_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 13

1A00:02

SubIndex 002

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

UINT32

RW

0x1C32:20, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 1

1A00:04

SubIndex 004

4. PDO Mapping entry ()

UINT32

RW

0x1800:09, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x11 (Current))

UINT32

RW

0x6000:11, 32

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x12 (Voltage))

UINT32

RW

0x6000:12, 32

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x13 (Active power))

UINT32

RW

0x6000:13, 32

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x14 (Index))

UINT32

RW

0x6000:14, 8

1A00:09

SubIndex 009

9. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 8

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (PM Inputs Ch.1), entry 0x1D (VariantValue))

UINT32

RW

0x6000:1D, 32

1A01:0

TxPDO-Map Ch.2

PDO Mapping of TxPDO 2

UINT8

RO

0x0A (10_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 13

1A01:02

SubIndex 002

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

UINT32

RW

0x1C32:20, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 1

1A01:04

SubIndex 004

4. PDO Mapping entry ()

UINT32

RW

0x1801:09, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (PM Inputs Ch.2), entry 0x11 (Current))

UINT32

RW

0x6010:11, 32

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (PM Inputs Ch.2), entry 0x12 (Voltage))

UINT32

RW

0x6010:12, 32

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (PM Inputs Ch.2), entry 0x13 (Active power))

UINT32

RW

0x6010:13, 32

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (PM Inputs Ch.2), entry 0x14 (Index))

UINT32

RW

0x6010:14, 8

1A01:09

SubIndex 009

9. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 8

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (PM Inputs Ch.2), entry 0x1D (VariantValue))

UINT32

RW

0x6010:1D, 32

1A02:0

TxPDO-Map Ch.3

PDO Mapping of TxPDO 3

UINT8

RO

0x0A (10_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 13

1A02:02

SubIndex 002

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

UINT32

RW

0x1C32:20, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 1

1A02:04

SubIndex 004

4. PDO Mapping entry ()

UINT32

RW

0x1802:09, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (PM Inputs Ch.3), entry 0x11 (Current))

UINT32

RW

0x6020:11, 32

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (PM Inputs Ch.3), entry 0x12 (Voltage))

UINT32

RW

0x6020:12, 32

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6020 (PM Inputs Ch.3), entry 0x13 (Active power))

UINT32

RW

0x6020:13, 32

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x6020 (PM Inputs Ch.3), entry 0x14 (Index))

UINT32

RW

0x6020:14, 8

1A02:09

SubIndex 009

9. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 8

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x6020 (PM Inputs Ch.3), entry 0x1D (VariantValue))

UINT32

RW

0x6020:1D, 32

1A03:0

TxPDO-Map Status

PDO Mapping of TxPDO 4

UINT8

RO

0x09 (9_dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 3

1A03:02

SubIndex 002

2. PDO Mapping entry ()

UINT32

RW

0xF130:04, 1

1A03:03

SubIndex 003

3. PDO Mapping entry ()

UINT32

RW

0xF130:05, 1

1A03:04

SubIndex 004

4. PDO Mapping entry ()

UINT32

RW

0xF130:06, 1

1A03:05

SubIndex 005

5. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 2

1A03:06

SubIndex 006

6. PDO Mapping entry ()

UINT32

RW

0xF130:09, 1

1A03:07

SubIndex 007

7. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 4

1A03:08

SubIndex 008

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

UINT32

RW

0x1C32:20, 1

1A03:09

SubIndex 009

9. PDO Mapping entry (Align)

UINT32

RW

0x0000:00, 2

1C00:0

Sync manager type

Length of this object

UINT8

RO

0x04 (4_dec)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RW

0x01 (1_dec)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RW

0x02 (2_dec)

1C00:03

SubIndex 003

Sync-Manager Type Channel 3: Process Data Write (Outputs)

UINT8

RW

0x03 (3_dec)

1C00:04

SubIndex 004

Sync-Manager Type Channel 4: Process Data Read (Inputs)

UINT8

RW

0x04 (4_dec)

1C12:0

RxPDO assign

PDO Assign of Outputs

UINT8

RO

0x03 (3_dec)

1C12:01

Subindex 001

1. assigned PDO (RxPDO-Map Ch.1 (RxPDO 1))

UINT16

RW

0x1600 (5632_dec)

1C12:02

Subindex 002

2. assigned PDO (RxPDO-Map Ch.2 (RxPDO 2))

UINT16

RW

0x1601 (5633_dec)

1C12:03

Subindex 003

3. assigned PDO (RxPDO-Map Ch.3 (RxPDO 3))

UINT16

RW

0x1602 (5634_dec)

1C13:0

TxPDO assign

PDO Assign of Inputs

UINT8

RO

0x04 (4_dec)

1C13:01

Subindex 001

1. assigned PDO (TxPDO-Map Ch.1 (TxPDO 1))

UINT16

RW

0x1A00 (6656_dec)

1C13:02

Subindex 002

2. assigned PDO (TxPDO-Map Ch.2 (TxPDO 2))

UINT16

RW

0x1A01 (6657_dec)

1C13:03

Subindex 003

3. assigned PDO (TxPDO-Map Ch.3 (TxPDO 3))

UINT16

RW

0x1A02 (6658_dec)

1C13:04

Subindex 004

4. assigned PDO (TxPDO-Map Status (TxPDO 4))

UINT16

RW

0x1A03 (6659_dec)

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8
BOOLEAN

RO

0x14 (20_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

0x000AAE60 (700000_dec)

1C32:03

Shift time

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

UINT32

RW

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

RW

0x8007 (32775_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RW

0x000AAE60 (700000_dec)

1C32:06

Calc and copy time

Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)

UINT32

RW

0x00000000 (0_dec)

1C32:08

Command

0: Measurement of the local cycle time is stopped

1: Measurement of the local cycle time is started

0x1C32:033, 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

RW

0x00000000 (0_dec)

1C32:0B

SM event missed counter

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

UINT166

RW

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

RW

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

RW

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

RW

0x00 (0_dec)

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

0x14 (20_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

0x000AAE60 (700000_dec)

1C33:03

Shift time

Time between SYNC0 event and reading of the inputs (in ns, only DC mode)

UINT32

RW

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

RW

0x8007 (32775_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RW

0x000AAE60 (700000_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

RW

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

RW

0x00000000 (0_dec)

1C33:0B

SM event missed counter

as 0x1C32:0B

UINT16

RW

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:0C

UINT16

RW

0x0000 (0_dec)

1C33:0D

Shift too short counter

as 0x1C32:0D

UINT16

RW

0x0000 (0_dec)

1C33:20

Sync error

as 0x1C32:20

BOOLEAN

RWW

0x00 (0_dec)