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

EL5001:
0x00001389 (5001_dec)

EL5002:
0x01F51389 (32838537_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL5001 or EL5002

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

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

EL5001:
0x13893052 (327757906_dec)

EL5002:
0x138A3052 (327823442_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

EL5001:
0x03F90000 (66650112_dec)

EL5002:
0x00100000 (1048576_dec)

1018:04

Serial number

Serial number of the EtherCAT slave;

• Low word
• 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)

1800:0

TxPDO 001 mapping

PDO parameter TxPDO 1

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

SSI TxPDO Par Inputs

PDO parameter TxPDO 2

UINT8

RO

0x09 (9_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

1801:07

TxPDO State

The TxPDO state is set if it was not possible to correctly read in the associated input data

BOOLEAN

RO

0x00 (0_dec)

1801:09

TxPDO Toggle

The TxPDO toggle is toggled with each update the corresponding input data

BOOLEAN

RO

0x00 (0_dec)

1A00:0

SSI TxPDO Map Inputs

PDO Mapping TxPDO 1

UINT8

RO

0x08 (8_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x01 (Data error))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x02 (Frame error))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x03 (Power failure))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x1C32, entry 0x20)

UINT32

RO

0x1C32:20, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x1800, entry 0x07)

UINT32

RO

0x1800:07, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x1800, entry 0x09)

UINT32

RO

0x1800:09, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (SSI Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

1A00:0

TxPDO 001 mapping

PDO Mapping TxPDO 1

UINT8

RO

0x02 (2_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x3101 (Inputs), entry 0x01 (Status))

UINT32

RO

0x3101:01, 8

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x3101 (Inputs), entry 0x02 (Value))

UINT32

RO

0x3101:02, 32

1A01:0

SSI TxPDO Map Inputs

PDO Mapping TxPDO 2

UINT8

RO

0x08 (8_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (SSI Inputs), entry 0x01 (Data error))

UINT32

RO

0x6010:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (SSI Inputs), entry 0x02 (Frame error))

UINT32

RO

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (SSI Inputs), entry 0x03 (Power failure))

UINT32

RO

0x6010:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x1C32, entry 0x20)

UINT32

RO

0x1C32:20, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x1801 (SSI TxPDO Par Inputs), entry 0x07 (TxPDO State))

UINT32

RO

0x1801:07, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x1801 (SSI TxPDO-Par Inputs), entry 0x09 (TxPDO Toggle))

UINT32

RO

0x1801:09, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (SSI Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6010:11, 32

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

0x00 (0_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RO

0x02 (2_dec)

1C13:01

SubIndex 001

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

UINT16

RO

0x1A00 (6656_dec)

1C13:02**

SubIndex 002

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

UINT16

RO

0x1A01 (6657_dec)

**) EL5002 only

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

0x0022 (34_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

0x000F4240 (1000000_dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0_dec)

1C33:04

Sync modes supported

Supported synchronization modes:

• Bit 0: free run is supported
• Bit 1: Synchronous with SM 2 Event is supported (outputs available)
• Bit 1: Synchronous 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 0x1C33:08)

UINT16

RO

0xC007 (49159_dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00014C08 (85000_dec)

1C33:06

Calc and copy time

Time between reading of the inputs and availability of the inputs for the master (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C33:07

Minimum delay time

-

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

0x00 (0_dec)

3101:0

Inputs

Length of this object

UINT8

RO

0x02 (2_dec)

3101:01

Status

Status byte

UINT8

RO

0x00 (0_dec)

3101:02

Value

Input process data

UINT32

RO

0x00000000 (0_dec)

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2_dec)

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

0x0002 (2_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Length of this object

UINT8

RW

0x02 (2_dec)

F010:01

SubIndex 001

-

UINT32

RW

0x000001F4 (500_dec)

F010:02

SubIndex 002

-

UINT32

RW

0x000001F5 (501_dec)