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

EL3773

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

-

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

-

1018:0

Identity

Information for identifying the slave

UINT8

RO

 > 4 <

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

0x00000002

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

0x0EBD3052
(247279698_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

0x00000000

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

> 1 <

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0_dec)

18pp:0

AI TxPDO-Par Sample

PDO Parameter TxPDO

UINT8

RO

> 6 <

18pp:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

see
Predefined PDO Assignment

1Ap0:0

AI TxPDO-Map Status

PDO Mapping TxPDO

UINT8

RO

> 10 <

1Ap0:01

SubIndex 001

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

UINT32

RO

0x60p0:01, 1

1Ap0:02

SubIndex 002

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

UINT32

RO

0x60p0:02, 1

1Ap0:03

SubIndex 003

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

UINT32

RO

0x60p0:03, 2

1Ap0:04

SubIndex 004

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

UINT32

RO

0x60p0:05, 2

1Ap0:05

SubIndex 005

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

UINT32

RO

0x60p0:07, 1

1Ap0:06

SubIndex 006

6. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1Ap0:07

SubIndex 007

7. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1Ap0:08

SubIndex 008

8. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x0E (Sync error))

UINT32

RO

0x60p0:0E, 1

1Ap0:09

SubIndex 009

9. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x60p0:0F, 1

1Ap0:0A

SubIndex 010

10. PDO Mapping entry (object 0x60p0 (AI Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x60p0:10, 1

1Apq:0

AI TxPDO-Map Samples

n

p

q

UINT8

RO

> n <

1_dec = Max. Subindex: 001
2_dec = Max. Subindex: 002
4_dec  = Max. Subindex: 004
5_dec = Max. Subindex: 005
8_dec = Max. Subindex: 008
10_dec = Max. Subindex: 010
16_dec = Max. Subindex: 016
20_dec = Max. Subindex: 020
25_dec = Max. Subindex: 025
32_dec = Max. Subindex: 032
40_dec = Max. Subindex: 040
50_dec = Max. Subindex: 050
64_dec = Max. Subindex: 064
80_dec = Max. Subindex: 080
100_dec = Max. Subindex:100

0x0 = L1 Voltage Samples
0x1 = L1 Current Samples
0x2 = L2 Voltage Samples
0x3 = L2 Current Samples
0x4 = L3 Voltage Samples
0x5 = L3 Current Samples

0x1 = 1 Sample
0x60p2:01, 16
0x2 = 2 Samples,
0x60p2:01, 16
0x60p2:02, 16
0x3 = 4 Samples,
0x60p2:01, 16
....
0x60p2:04, 16
0x4 = 5 Samples,....
0x5  =  8 Samples,....
0x6 = 10 Samples,....
0x7 = 16 Samples,....
0x8 = 20 Samples,....
0x9 = 25 Samples,....
0xA = 32 Samples,....
0xB = 40 Samples,....
0xC = 50 Samples,....
0xD = 64 Samples,....
0xE = 80 Samples,....
0xF = 100 Samples,

0x60p2:01, 16
....
0x60p2:64, 16

1Apq:hh

(for 01_hex ≤ hh ≤ 64_hex)

Subindex n

Voltage Samples or Current Samples

INT16

RO

-

1A60:0

AI Timestamp Next Sync1 Time

Max. Subindex

UINT8

RO

> 1 <

1A60:01

Subindex 001

1. PDO Mapping entry (object 0x6060 (AI Inputs), entry 0x01 (Next Sync1 Time))

UINT64

RO

0x6060:01, 64

1A60:0

AI Timestamp Sample Counter

Max. Subindex

UINT8

RO

> 1 <

1A61:01

Subindex 001

1. PDO Mapping entry (object 0x6061 (AI Inputs), entry 0x01 (SampleCount))

UINT16

RO

0x6061:01, 16

1C00:0

Sync manager type

Using the sync managers

UINT8

RO

> 4 <

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

> 0 <

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

 > 4 <

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

0x1A06 (6662_dec)

1C13:03

SubIndex 003

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

UINT16

RW

0x1A10 (6672_dec)

1C13:04

SubIndex 004

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

UINT16

RW

0x1A16 (6678_dec)

1C13:05

SubIndex 005

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

UINT16

RW

0x1A20 (6688_dec)

1C13:06

SubIndex 006

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

UINT16

RW

0x1A26 (6694_dec)

1C13:07

SubIndex 007

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

UINT16

RW

0x1A30 (6704_dec)

1C13:08

SubIndex 008

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

UINT16

RW

0x1A36 (6710_dec)

1C13:09

SubIndex 009

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

UINT16

RW

0x1A40 (6720_dec)

1C13:0A

SubIndex 010

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

UINT16

RW

0x1A46 (6726_dec)

1C13:0B

SubIndex 011

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

UINT16

RW

0x1A50 (6736_dec)

1C13:0C

SubIndex 012

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

UINT16

RW

0x1A56 (6742_dec)

1C13:0D

SubIndex 013

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

UINT16

RW

0x1A60 (6752_dec)

1C13:0E

SubIndex 014

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

UINT16

RW

0x1A61 (6753_dec)

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

> 32 <

1C33:01

Sync mode

Current synchronization mode:

• Bit 0 = 0: Free Run
• Bit 0 = 1: Synchron with SM 2 Event
• Bit 0-1 = 11: DC with SYNC1 event
• Bit 15 = 1: Fast Mode

UINT16

RW

0x0002 (2_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

0x003D0900 (4000000_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 = 1: Free Run
• Bit 1 = 1: Synchron with SM 2 Event (Outputs available
• Bit 2 = 1: DC-Mode (SYNC0)
• Bit 3 = 1: DC-Mode (SYNC1)
• Bit 12 = 1: Legacy Synchron
• Bit 13 = 1: SM event
• Bit 14 = 1: dynamic times (measure by writing 0x1C33:08)
• Bit 15 = 1: Fast Mode

UINT16

RO

0x0806 (2054_dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000_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

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, 0x1C33:09 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

FALSE

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

> 2 <

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0007 (7_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Maximum subindex

UINT8

RW

> 7 <

F010:01

SubIndex 001

Analog input profile (300)

UINT32

RW

0x0000012C (300_dec)

F010:02

SubIndex 002

Analog input profile (300)

UINT32

RW

0x0000012C (300_dec)

F010:03

SubIndex 003

Analog input profile (300)

UINT32

RW

0x0000012C (300_dec)

F010:04

SubIndex 004

Analog input profile (300)

UINT32

RW

0x0000012C (300_dec)

F010:05

SubIndex 005

Analog input profile (300)

UINT32

RW

0x0000012C (300_dec)

F010:06

SubIndex 006

Analog input profile (300)

UINT32

RW

0x0000012C (300_dec)

F010:07

SubIndex 007

Analog input profile (300)

UINT32

RW

0x0000012C (300_dec)