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

0x01561389 (22418313_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL34xx

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

100B:0

Bootloader version

Bootloader version

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

0x0D743052 (225718354_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

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

10E2:0

Manufacturer-specific Identification Code

Manufacturer-specific Identification Code

UINT8

RO

0x01 (1_dec)

10E2:01

SubIndex 001

reserved

STRING

RO

10F0:0

Backup parameter

Length of this object

UINT8

RO

0x01

10F0:01

Checksum

Checksum

UINT32

RW

0x00000000 (0_dec)

10F3:0

Diagnosis History

Maximum subindex

UINT8

RO

0x15 (21_dec)

10F3:01

Maximum Messages

Maximum number of stored messages. A maximum of 50 messages can be stored

UINT8

RO

0x00 (0_dec)

10F3:02

Newest Message

Subindex of the latest message

UINT8

RO

0x00 (0_dec)

10F3:03

Newest Acknowledged Message

Subindex of the last confirmed message

UINT8

RW

0x00 (0_dec)

10F3:04

New Messages Available

Indicates that a new message is available

BOOLEAN

RO

0x00 (0_dec)

10F3:05

Flags

not used

UINT16

RW

0x0000 (0_dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET STRING[28]

RO

{0}

...

...

...

...

...

...

10F3:15

Diagnosis Message 016

Message 16

OCTET STRING[28]

RO

{0}

10F8:0

Actual Time Stamp

Time stamp

UINT64

RO

0x0000000000000000 (0_dec)

10F9:0

Time Distribution Object

Max Subindex

UINT8

RO

0x01 (1_dec)

10F9:01

Distributed Time Value

Object for time distribution by the EtherCAT Master

INT64

RW

1600:0

DPM RxPDO-Map Variant Value Out

PDO Mapping RxPDO

UINT8

RO

0x04 (4_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7040 (DPM Variant Value Out), entry 0x11 (Index 1 REAL))

UINT32

RO

0x7040:11, 16

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7040 (DPM Variant Value Out), entry 0x12 (Index 2 REAL))

UINT32

RO

0x7040:12, 16

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7040 (DPM Variant Value Out), entry 0x13 (Index 3 REAL))

UINT32

RO

0x7040:13, 16

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7040 (DPM Variant Value Out), entry 0x14 (Index 4 ULINT))

UINT32

RO

0x7040:14, 16

1601:0

DPM RxPDO-Map Data

PDO Mapping RxPDO

UINT8

RO

0x14 (20_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x01 (Data 1))

UINT32

RO

0xF700:01, 32

1601:02

SubIndex 002

2. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x02 (Data 2))

UINT32

RO

0xF700:02, 32

1601:03

SubIndex 003

3. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x03 (Data 3))

UINT32

RO

0xF700:03, 32

1601:04

SubIndex 004

4. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x04 (Data 4))

UINT32

RO

0xF700:04, 32

1601:05

SubIndex 005

5. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x05 (Data 5))

UINT32

RO

0xF700:05, 32

1601:06

SubIndex 006

6. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x06 (Data 6))

UINT32

RO

0xF700:06, 32

1601:07

SubIndex 007

7. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x07 (Data 7))

UINT32

RO

0xF700:07, 32

1601:08

SubIndex 008

8. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x08 (Data 8))

UINT32

RO

0xF700:08, 32

1601:09

SubIndex 009

9. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x09 (Data 9))

UINT32

RO

0xF700:09, 32

1601:0A

SubIndex 010

10. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x0A (Data 10))

UINT32

RO

0xF700:0A, 32

1601:0B

SubIndex 011

11. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x0B (Data 11))

UINT32

RO

0xF700:0B, 32

1601:0C

SubIndex 012

12. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x0C (Data 12))

UINT32

RO

0xF700:0C, 32

1601:0D

SubIndex 013

13. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x0D (Data 13))

UINT32

RO

0xF700:0D, 32

1601:0E

SubIndex 014

14. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x0E (Data 14))

UINT32

RO

0xF700:0E, 32

1601:0F

SubIndex 015

15. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x0F (Data 15))

UINT32

RO

0xF700:0F, 32

1601:10

SubIndex 016

16. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x10 (Data 16))

UINT32

RO

0xF700:10, 32

1601:11

SubIndex 017

17. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x11 (Data 17))

UINT32

RO

0xF700:11, 32

1601:12

SubIndex 018

18. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x12 (Data 18))

UINT32

RO

0xF700:12, 32

1601:13

SubIndex 019

19. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x13 (Data 19))

UINT32

RO

0xF700:13, 32

1601:14

SubIndex 020

20. PDO Mapping entry (object 0xF700 (DPM Data), entry 0x14 (Data 20))

UINT32

RO

0xF700:14, 32

1800:0

I1 TxPDO-Par Channel

PDO parameter TxPDO

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

I1 TxPDO-Par Current

PDO parameter TxPDO

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

1802:0

I2 TxPDO-Par Channel

PDO parameter TxPDO

UINT8

RO

0x06 (6_dec)

1802:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

03 1A

1803:0

I2 TxPDO-Par Current

PDO parameter TxPDO

UINT8

RO

0x06 (6_dec)

1803:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4

OCTET-STRING[2]

RO

02 1A

1804:0

I3 TxPDO-Par Channel

PDO parameter TxPDO

UINT8

RO

0x06 (6_dec)

1804:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 5

OCTET-STRING[2]

RO

05 1A

1805:0

I3 TxPDO-Par Current

PDO parameter TxPDO

UINT8

RO

0x06 (6_dec)

1805:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

04 1A

1806:0

I4 TxPDO-Par Channel

PDO parameter TxPDO

UINT8

RO

0x06 (6_dec)

1806:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 7

OCTET-STRING[2]

RO

07 1A

1807:0

I4 TxPDO-Par Current

PDO parameter TxPDO

UINT8

RO

0x06 (6_dec)

1807:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 8

OCTET-STRING[2]

RO

06 1A

1App:0

TxPDO-Map Channel

PDO Mapping TxPDO

UINT8

RO

0x13 (19_dec)

1App:01

SubIndex 001

1. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x01 (Overcurrent))

UINT32

RO

0x60nn:01, 1

1App:02

SubIndex 002

2. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x02 (Inaccurate Current))

UINT32

RO

0x60nn:02, 1

1App:03

SubIndex 003

3. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x03 (Current Guard Warning))

UINT32

RO

0x60nn:03, 1

1App:04

SubIndex 004

4. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x04 (Current Guard Error))

UINT32

RO

0x60nn:04, 1

1App:05

SubIndex 005

5. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x05 (Apparent Power Guard Warning))

UINT32

RO

0x60nn:05, 1

1App:06

SubIndex 006

6. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x06 (Apparent Power Guard Error))

UINT32

RO

0x60nn:06, 1

1App:07

SubIndex 007

7. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x07 (Active Power Guard Warning))

UINT32

RO

0x60nn:07, 1

1App:08

SubIndex 008

8. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x08 (Active Power Guard Error))

UINT32

RO

0x60nn:08, 1

1App:09

SubIndex 009

9. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x09 (Reactive Power Guard Warning))

UINT32

RO

0x60nn:09, 1

1App:0A

SubIndex 010

10. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x0A (Reactive Power Guard Error))

UINT32

RO

0x60nn:0A, 1

1App:0B

SubIndex 011

Reserved

UINT32

RO

0x0000:00, 1

1App:0C

SubIndex 012

12. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x0C (DPM Timeout))

UINT32

RO

0x60nn:0C, 1

1App:0D

SubIndex 013

Reserved

UINT32

RO

0x0000:00, 3

1App:0E

SubIndex 014

14. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x60nn:10, 1

1App:0F

SubIndex 015

15. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x11 (Current))

UINT32

RO

0x60nn:11, 32

1App:10

SubIndex 016

16. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x12 (Active Power))

UINT32

RO

0x60nn:12, 32

1App:11

SubIndex 017

17. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x13 (Apparent Power))

UINT32

RO

0x60nn:13, 32

1App:12

SubIndex 018

18. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x14 (Reactive Power Fundamental))

UINT32

RO

0x60nn:14, 32

1App:13

SubIndex 019

19. PDO Mapping entry (object 0x60nn (DPM Channel), entry 0x15 (Active Energy))

UINT32

RO

0x60nn:15, 32

pp

00

02

04

06

nn

00

10

20

30

1App:0

TxPDO-Map Current

PDO Mapping TxPDO

UINT8

RO

0x0A (10_dec)

1App:01

SubIndex 001

reserved

UINT32

RO

0x0000:00, 2

1App:02

SubIndex 002

2. PDO Mapping entry (object 0x60nn (DPM Channel Current), entry 0x03 (Overcurrent))

UINT32

RO

0x60nn:03, 1

1App:03

SubIndex 003

reserved

UINT32

RO

0x0000:00, 1

1App:04

SubIndex 004

4. PDO Mapping entry (object 0x60nn (DPM Channel Current), entry 0x05 (Inaccurate Current))

UINT32

RO

0x60nn:05, 1

1App:05

SubIndex 005

reserved

UINT32

RO

0x0000:00, 2

1App:06

SubIndex 006

6. PDO Mapping entry (object 0x60nn (DPM Channel Current), entry 0x08 (Current Guard Warning))

UINT32

RO

0x60nn:08, 1

1App:07

SubIndex 007

7. PDO Mapping entry (object 0x60nn (DPM Channel Current), entry 0x09 (Current Guard Error))

UINT32

RO

0x60nn:09, 1

1App:08

SubIndex 008

reserved

UINT32

RO

0x0000:00, 6

1App:09

SubIndex 009

9. PDO Mapping entry (object 0x60nn (DPM Channel Current), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x60nn:10, 1

1App:0A

SubIndex 010

10. PDO Mapping entry (object 0x60nn (DPM Channel Current), entry 0x11 (Current))

UINT32

RO

0x60nn:11, 32

pp

01

03

05

07

nn

01

11

21

31

1A0C:0

DPM TxPDO-Map Variant Value In

PDO Mapping TxPDO

UINT8

RO

0x0A (10_dec)

1A0C:01

SubIndex 001

reserved

UINT32

RO

0x000:00, 15

1A0C:02

SubIndex 002

1. PDO Mapping entry (object 0x606A (DPM Variant Value In), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x606A:10, 1

1A0C:03

SubIndex 003

2. PDO Mapping entry (object 0x606A (DPM Variant Value In), entry 0x11 (Index 1 REAL))

UINT32

RO

0x606A:11, 16

1A0C:04

SubIndex 004

3. PDO Mapping entry (object 0x606A (DPM Variant Value In), entry 0x12 (Value 1 REAL))

UINT32

RO

0x606A:12, 32

1A0C:05

SubIndex 005

4. PDO Mapping entry (object 0x606A (DPM Variant Value In), entry 0x13 (Index 2 REAL))

UINT32

RO

0x606A:13, 16

1A0C:06

SubIndex 006

5. PDO Mapping entry (object 0x606A (DPM Variant Value In), entry 0x14 (Value 2 REAL))

UINT32

RO

0x606A:14, 32

1A0C:07

SubIndex 007

6. PDO Mapping entry (object 0x606A (DPM Variant Value In), entry 0x15 (Index 3 REAL))

UINT32

RO

0x606A:15, 16

1A0C:08

SubIndex 008

7. PDO Mapping entry (object 0x606A (DPM Variant Value In), entry 0x16 (Value 3 REAL))

UINT32

RO

0x606A:16, 32

1A0C:09

SubIndex 009

8. PDO Mapping entry (object 0x606A (DPM Variant Value In), entry 0x17 (Index 4 ULINT))

UINT32

RO

0x606A:17, 16

1A0C:0A

SubIndex 010

9. PDO Mapping entry (object 0x606A (DPM Variant Value In), entry 0x18 (Value 4 ULINT))

UINT32

RO

0x606A:18, 64

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 Outputs

UINT8

RW

0x02 (1_dec)

1C12:01

SubIndex 001

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

UINT16

RW

0x1600 (5632_dec)

1C12:02

SubIndex 002

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

UINT16

RW

0x1601 (5633_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

0x1A01 (6657_dec)

1C13:02

SubIndex 002

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

UINT16

RW

0x1A03 (6659_dec)

1C13:03

SubIndex 003

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

UINT16

RW

0x1A05 (6661_dec)

1C13:04

SubIndex 004

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

UINT16

RW

0x1A07 (6663_dec)

1C13:05

SubIndex 005

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

UINT16

RW

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

0x0000 (0_dec)

1C32:02

Cycle time

Cycle time (in ns):

Free Run: cycle time of the local timer

Synchron with SM 2 Event: cycle time of the master

DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x0016E360 (1500000_dec)

1C32:03

Shift time

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

UINT32

RO

0x00000384 (900_dec)

1C32:04

Sync modes supported

Sync modes supported:

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 1C32:08)

UINT16

RO

0x0805 (2053_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0007A120 (500000_dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000384 (900_dec)

1C32:07

Minimum delay time

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

UINT32

RO

0x00000384 (900_dec)

1C32:08

Command

0: Measurement of the local cycle time is stopped

1: Measurement of the local cycle time is started

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0_dec)

1C32:09

Maximum delay time

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

UINT32

RO

0x00000384 (900_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 intervals between SYNC0 and SYNC1 events that are too short (DC Mode only)

UINT16

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: 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

0x0000 (0_dec)

1C33:02

Cycle time

as 1C32:02 

UINT32

RW

0x0016E360 (1500000_dec)

1C33:03

Shift time

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

UINT32

RO

0x00000384 (900_dec)

1C33:04

Sync modes supported

Sync modes supported:

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 1C32:08 or 1C33:08)

UINT16

RO

0x0805 (2053_dec)

1C33:05

Minimum cycle time

as 1C32:05 

UINT32

RO

0x0007A120 (500000_dec)

1C33:06

Calc and copy time

Time between reading of the inputs and the inputs being available for the master (in ns, DC Mode only)

UINT32

RO

0x0007A120 (500000_dec)

1C33:07

Minimum delay time

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

UINT32

RO

0x00000384 (900_dec)

1C33:08

Command

as 1C32:08

UINT16

RW

0x0000 (0_dec)

1C33:09

Maximum delay time

Time between SYNC1 event and reading of the inputs (in ns, DC Mode only)

UINT32

RO

0x00000384 (900_dec)

1C33:0B

SM event missed counter

as 1C32:11 

UINT16

RO

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

as 1C32:12 

UINT16

RO

0x0000 (0_dec)

1C33:0D

Shift too short counter

as 1C32:13 

UINT16

RO

0x0000 (0_dec)

F000:0

Modular device profile

Largest subindex of this object

UINT8

RO

0x02 (2_dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RW

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RW

0x0005 (5_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)