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

0x01681389 (23597961_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL3681

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

03

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

02

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

0x0E613052 (241250386_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

0x00120000 (1179648_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)

1600:0

SAI RxPDO-Map Range

PDO Mapping RxPDO 1

UINT8

RO

0x05 (5_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (SAI Range), entry 0x01 (Enable autorange))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (3 bits align)

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (SAI Range), entry 0x05 (Mode))

UINT32

RO

0x0000:00, 2

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (SAI Range), entry 0x09 (Range))

UINT32

RO

0x7000:05, 4

1600:05

SubIndex 005

5. PDO Mapping entry (object 0x7000 (SAI Range), entry 0x09 (Range))

UINT32

RO

0x7000:09, 8

1A00:0

SAI TxPDO-Map Inputs

PDO Mapping TxPDO 1

UINT8

RO

0x0C (12_dec)

1A00:01

SubIndex 001

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

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (SAI Inputs), entry 0x02 (Overrange))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (SAI Inputs), entry 0x03 (Extended range))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (SAI Inputs), entry 0x04 (Data invalid))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (SAI Inputs), entry 0x05 (Range invalid))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (SAI Inputs), entry 0x06 (Autorange disabled))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (SAI Inputs), entry 0x07 (Error))

UINT32

RO

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (SAI Inputs), entry 0x08 (Calibration in progress))

UINT32

RO

0x6000:08, 1

1A00:09

SubIndex 009

9. PDO Mapping
(6 Bits align)

UINT32

RO

0x0000:00, 6

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6000:0F, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6000:10, 1

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (SAI Inputs), entry 0x11 (Value))

UINT32

RO

0x6000:11, 32

1A01:0

SAI TxPDO-Map Range

PDO Mapping TxPDO 2

UINT8

RO

0x05 (5_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6001 (SAI Range), entry 0x05 (Mode))

UINT32

RO

0x6001:05, 4

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6001 (SAI Range), entry 0x09 (Range))

UINT32

RO

0x6001:09, 8

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 of the associated RxPDO mapping object)

UINT16

RW

0x1600 (5632_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x02 (2_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

0x1A01 (6657_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

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

0x000F4240 (1000000_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

UINT16

RO

0xC007 (49159_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000F4240 (1000000_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

Maximum 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 intervals between SYNC0 and SYNC1 events that are 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

0x0000 (0_dec)

1C33:02

Cycle time

as 0x1C32:02 

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

UINT16

RO

0x0001(1_dec)

1C33:05

Minimum cycle time

as 0x1C32:05 

UINT32

RO

0x000F4240 (1000000_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

Command

as 0x1C32:08

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

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)