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

0x01901389 (26219401_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL41x2-0000

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

07

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

05

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

0x10243052 (270807122_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

0x03F80000 (66584576_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)

1400:0

RxPDO 01 mapping

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6_dec)

1400:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 1

OCTET-STRING[8]

RO

02 16 03 16 10 16 00 00

1401:0

RxPDO 02 mapping

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6_dec)

1401:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 2

OCTET-STRING[8]

RO

02 16 03 16 10 16 00 00

1402:0

AO RxPDO-Par Ch.1

PDO Parameter RxPDO 3

UINT8

RO

0x06 (6_dec)

1402:06

Exclude RxPDOs

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

OCTET-STRING[8]

RO

00 16 01 16 10 16 00 00

1403:0

AO RxPDO-Par Ch.2

PDO Parameter RxPDO 4

UINT8

RO

0x06 (6_dec)

1403:06

Exclude RxPDOs

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

OCTET-STRING[8]

RO

00 16 01 16 10 16 00 00

1410:0

RxPDO 017 mapping

PDO Parameter RxPDO 17

UINT8

RO

0x06 (6_dec)

1410:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 17

OCTET-STRING[8]

RO

00 16 01 16 02 16 03 16

1600:0

RxPDO 01 mapping

PDO Mapping RxPDO 1

UINT8

RO

0x01 (1_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x3001 (Channel 1), entry 0x01 (Output))

UINT32

RO

0x3001:01, 16

1601:0

RxPDO 02 mapping

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x3002 (Channel 2), entry 0x01 (Output))

UINT32

RO

0x3002:01, 16

1602:0

AO RxPDO-Map Ch.1

PDO Mapping RxPDO 3

UINT8

RO

0x01 (1_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (AO outputs Ch.1), entry 0x01 (Analog output))

UINT32

RO

0x7010:01, 16

1603:0

AO RxPDO-Map Ch.2

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1_dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (AO outputs Ch.2), entry 0x01 (Analog output))

UINT32

RO

0x7020:01, 16

1610:0

RxPDO 017 mapping

PDO Mapping RxPDO 17

UINT8

RO

0x02 (2_dec)

1610:01

SubIndex 001

1. PDO Mapping entry (object 0x6001, entry 0x01)

UINT32

RO

0x6001:01, 16

1610:02

SubIndex 002

2. PDO Mapping entry (object 0x6001, entry 0x02)

UINT32

RO

0x6001:02, 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

0x02 (2_dec)

1C12:01

SubIndex 001

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

UINT16

RW

0x1600 (5632_dec)

1C12:02

SubIndex 002

2^nd 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

0x00 (0_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

0x0001 (1_dec)

1C32:02

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

0x00000000 (0_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
• Bit 1 = 1: Synchronous 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

RO

0xC007 (49159_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0_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  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

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 occasions that the interval between SYNC0 and SYNC1 event was 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)

3001:0

Channel 1

Length of this object

UINT8

RO

0x01 (1_dec)

3001:01

Output

Output process data channel 1

INT16

RO

0x0000 (0_dec)

3002:0

Channel 2

Length of this object

UINT8

RO

0x01 (1_dec)

3002:01

Output

Output process data channel 2

INT16

RO

0x0000 (0_dec)

4040:0

Producer codeword 1

reserved

UINT16

RW

0x0000 (0_dec)

4041:0

DAC raw value 1

Length of this object

UINT8

RO

0x01 (1_dec)

4041:01

Subindex 1

This is the circuit's raw DAC value. It is converted to an output value through a calculation with the gain and offset from the calibration.

UINT16

RO

0x0000 (0_dec)

4042:0

Calibration data 1

Length of this object

UINT8

RO

0x02 (2_dec)

4042:01

Offset

These objects are used to trim the tolerances of the components to determine the output value. The values can only be changed when the Producer codeword (object 0x4040) is set.

Offset trim channel 1

INT16

RW

0x0000 (0_dec)

4042:02

Gain

Gain trim channel 1

UINT16

RW

0xF0CC (61644_dec)

4080:0

Producer codeword 2

reserved

UINT16

RW

0x0000 (0_dec)

4081:0

DAC raw value 2

Length of this object

UINT8

RO

0x01 (1_dec)

4081:01

Subindex 1

This is the circuit's raw DAC value. It is converted to an output value through a calculation with the gain and offset from the calibration.

UINT16

RO

0x0000 (0_dec)

4082:0

Calibration data 2

Length of this object

UINT8

RO

0x02 (2_dec)

4082:01

Offset

These objects are used to trim the tolerances of the components to determine the output value. The values can only be changed when the Producer codeword (object 0x4080) is set.

Offset trim channel 2

INT16

RW

0x0000 (0_dec)

4082:02

Gain

Gain trim channel 2

UINT16

RW

0xF0CC (61644_dec)