Standard objects

Index 1000 Device type

Index (hex)	Name	Meaning	Data type	Flags	Default
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	EL5021: 0x01FF1389 EL5021-0090: 0x00001389

Index 1008 Device name

Index (hex)	Name	Meaning	Data type	Flags	Default
1008:0	Device name	Device name of the EtherCAT slave	STRING	RO	EL5021 EL5021-0090

Index 1009 Hardware version

Index (hex)	Name	Meaning	Data type	Flags	Default
1009:0	Hardware version	Hardware version of the EtherCAT slave	STRING	RO

Index 100A Software version

Index (hex)	Name	Meaning	Data type	Flags	Default
100A:0	Software version	Firmware version of the EtherCAT slave	STRING	RO	-

Index 1018 Identity

Index (hex)	Name	Meaning	Data type	Flags	Default
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	0x139D3052 (329068626_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	0x00000000 (0_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)

Index 10F0 Backup parameter handling

Index (hex)	Name	Meaning	Data type	Flags	Default
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)

Index 1600 ENC RxPDO-Map Control

Index (hex)	Name	Meaning	Data type	Flags	Default
1600:0	ENC RxPDO-Map Control	PDO Mapping RxPDO 1	UINT8	RO	0x05 (5_dec)
1600:01	SubIndex 001	1. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x01 (Enable latch C))	UINT32	RO	0x7000:01, 1
1600:02	SubIndex 002	2. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1600:03	SubIndex 003	3. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x03 (Set counter))	UINT32	RO	0x7000:03, 1
1600:04	SubIndex 004	4. PDO Mapping entry (13 bits align)	UINT32	RO	0x0000:00, 13
1600:05	SubIndex 005	5. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x11 (Set counter value))	UINT32	RO	0x7000:11, 32

Index 1610 TSC RxPDO-Map Master Message (EL5021-0090 only)

Index (hex)	Name	Meaning	Data type	Flags	Default
1610:0	TSC RxPDO-Map Master Message	PDO Mapping RxPDO 17	UINT8	RO	0x04 (4_dec)
1610:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (TSC Master Frame Elements), entry 0x01 (TSC__Master Cmd))	UINT32	RO	0x7010:01, 8
1610:02	SubIndex 002	2. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8
1610:03	SubIndex 003	3. PDO Mapping entry (object 0x7010 (TSC Master Frame Elements), entry 0x03 (TSC__Master CRC_0))	UINT32	RO	0x7010:03, 16
1610:04	SubIndex 004	4. PDO Mapping entry (object 0x7010 (TSC Master Frame Elements), entry 0x02 (TSC__Master ConnID))	UINT32	RO	0x7010:02, 16

Index 1A00 ENC TxPDO-Map Status

Index (hex)	Name	Meaning	Data type	Flags	Default
1A00:0	ENC TxPDO-Map Status	PDO Mapping TxPDO 1	UINT8	RO	0x0D (13_dec)
1A00:01	SubIndex 001	1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x01 (Latch C valid))	UINT32	RO	0x6000:01, 1
1A00:02	SubIndex 002	2. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A00:03	SubIndex 003	3. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x03 (Set counter done))	UINT32	RO	0x6000:03, 1
1A00:04	SubIndex 004	4. PDO Mapping entry (object 0x6001 (ENC Inputs), entry 0x04 (Frequency error))	UINT32	RO	0x6001:04, 1
1A00:05	SubIndex 005	5. PDO Mapping entry (object 0x6001 (ENC Inputs), entry 0x05 (Amplitude error))	UINT32	RO	0x6001:05, 1
1A00:06	SubIndex 006	6. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 5
1A00:07	SubIndex 007	7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))	UINT32	RO	0x6000:0B, 1
1A00:08	SubIndex 008	8. PDO Mapping entry (2 bits align)	UINT32	RO	0x0000:00, 2
1A00:09	SubIndex 009	9. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0E (Sync error))	UINT32	RO	0x6000:0E, 1
1A00:0A	SubIndex 010	10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0F (TxPDO State))	UINT32	RO	0x6000:0F, 1
1A00:0B	SubIndex 011	11. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x10 (TxPDO Toggle))	UINT32	RO	0x6000:10, 1
1A00:0C	SubIndex 012	12. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))	UINT32	RO	0x6000:11, 32
1A00:0D	SubIndex 013	13. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x12 (Latch value))	UINT32	RO	0x6000:12, 32

Index 1A01 ENC TxPDO-Map Frequency (int32)

Index (hex)	Name	Meaning	Data type	Flags	Default
1A01:0	ENC TxPDO-Map Frequency (int32)	PDO Mapping TxPDO 2	UINT8	RO	0x01 (1_dec)
1A01:01	SubIndex 001	1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x1B (Frequency value (int32))	UINT32	RO	0x6000:1B, 32

Index 1A02 ENC TxPDO-Map Frequency (uint32)

Index (hex)	Name	Meaning	Data type	Flags	Default
1A02:0	ENC TxPDO-Map Frequency (uint32)	PDO Mapping TxPDO 3	UINT8	RO	0x01 (1_dec)
1A02:01	SubIndex 001	1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x13 (Frequency value (uint32))	UINT32	RO	0x6000:13, 32

Index 1A10 TSC TxPDO-Map Slave Message (EL5021-0090 only)

Index (hex)	Name	Meaning	Data type	Flags	Default
1A10:0	TSC TxPDO-Map Slave Message	PDO Mapping TxPDO 17	UINT8	RW	0x12 (18_dec)
1A10:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x01 (TSC__Slave Cmd))	UINT32	RW	0x6010:01, 8
1A10:02	SubIndex 002	2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))	UINT32	RW	0x6000:11, 16
1A10:03	SubIndex 003	3. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x03 (TSC__Slave CRC_0))	UINT32	RW	0x6010:03, 16
1A10:04	SubIndex 004	4. PDO Mapping entry (16 bits align)	UINT32	RW	0x0000:00, 16
1A10:05	SubIndex 005	5. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x04 (TSC__Slave CRC_1))	UINT32	RW	0x6010:04, 16
1A10:06	SubIndex 006	6. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x13 (Frequency value))	UINT32	RW	0x6000:13, 16
1A10:07	SubIndex 007	7. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x05 (TSC__Slave CRC_2))	UINT32	RW	0x6010:05, 16
1A10:08	SubIndex 008	8. PDO Mapping entry (16 bits align)	UINT32	RW	0x0000:00, 16
1A10:09	SubIndex 009	9. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x06 (TSC__Slave CRC_3))	UINT32	RW	0x6010:06, 16
1A10:0A	SubIndex 010	10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x1A (Frequency Value (int16))	UINT32	RW	0x6000:1A, 16
1A10:0B	SubIndex 011	11. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x07 (TSC__Slave CRC_4))	UINT32	RW	0x6010:07, 16
1A10:0C	SubIndex 012	12. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x1B (Frequency Value (int32))	UINT32	RW	0x6000:1B, 16
1A10:0D	SubIndex 013	13. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x08 (TSC__Slave CRC_5))	UINT32	RW	0x6010:08, 16
1A10:0E	SubIndex 014	14. PDO Mapping entry (16 bits align)	UINT32	RW	0x0000:00, 16
1A10:0F	SubIndex 015	15. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x08 (TSC__Slave CRC_6))	UINT32	RW	0x6010:09, 16
1A10:10	SubIndex 016	16. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x1C (Frequency Value (uint16))	UINT32	RW	0x6000:1C, 16
1A10:11	SubIndex 017	17. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x0A (TSC__Slave CRC_7))	UINT32	RW	0x6010:0A, 16
1A10:12	SubIndex 018	18. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x02 (TSC__Slave ConnID))	UINT32	RW	0x6010:02, 16

Index 1C00 Sync manager type

Index (hex)	Name	Meaning	Data type	Flags	Default
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)

Index 1C12 RxPDO assign

Index (hex)	Name	Meaning	Data type	Flags	Default
1C12:0	RxPDO assign	PDO Assign Outputs	UINT8	RW	0x02 (2_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	0x1610 (5648_dec)

**) only for EL5021-0090

Index 1C13 TxPDO assign

Index (hex)	Name	Meaning	Data type	Flags	Default
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	0x1A10 (6672_dec)
1C13:03	Subindex 003	3. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:04**)	Subindex 004	4. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)

**) only for EL5021-0090

Index 1C32 SM output parameter

Index (hex)	Name	Meaning	Data type	Flags	Default
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	0x000F4240 (1000000_dec)
1C32:03	Shift time	Time between SYNC0 event and output of the outputs (in ns, DC mode only)	UINT32	RO	0x00003CF0 (15600_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	0x440B (17419_dec)
1C32:05	Minimum cycle time	Minimum cycle time (in ns)	UINT32	RO	0x0000F3C0 (62400_dec)
1C32:06	Calc and copy time	Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)	UINT32	RO	0x00000000 (0_dec)
1C32:07	Minimum delay time	Minimum time between SYNC1 event and output of the outputs (in ns, only DC mode)	UINT32	RO	0x00003CF0 (15600_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	0x00003CF0 (15600_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)
1C32:14	Frame repeat time		UINT32	RW	0x00000000 (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)

Index 1C33 SM input parameter

Index (hex)	Name	Meaning	Data type	Flags	Default
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: Synchronous with SM 3 Event (no outputs available) 2: DC - Synchron with SYNC0 Event 3: DC - Synchron with SYNC1 Event 34: Synchronous with SM 2 Event (outputs available)	UINT16	RW	0x0022 (34_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	0x000015E0 (5600_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 0x1C32:08 or 0x1C33:08)	UINT16	RO	0x440B (17419_dec)
1C33:05	Minimum cycle time	as 0x1C32:05	UINT32	RO	0x0000F3C0 (62400_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	0x000015E0 (5600_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	0x000015E0 (5600_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)
1C33:14	Frame repeat time		UINT32	RW	0x00000000 (0_dec)
1C33:20	Sync error	as 0x1C32:32	BOOLEAN	RO	0x00 (0_dec)

Index F000 Modular device profile

Index (hex)	Name	Meaning	Data type	Flags	Default
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	EL5021: 0x0001 (1_dec) EL5021-0090: 0x0002 (2_dec)

Index (hex)

Name

Meaning

Data type

Flags

Default

F000:0

Modular device profile

General information for the modular device profile

UINT8

0x02 (2_dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

EL5021:
0x0001 (1_dec)

EL5021-0090:
0x0002 (2_dec)

Index F008 Code word

Index (hex)	Name	Meaning	Data type	Flags	Default
F008:0	Code word	reserved	UINT32	RW	0x00000000 (0_dec)

Index F010 Module list

Index (hex)	Name	Meaning	Data type	Flags	Default
F010:0	Module list	Maximum subindex	UINT8	RW	0x02 (2_dec)
F010:01	SubIndex 001	reserved	UINT32	RW	0x000001FF (511_dec)
F010:02**)	SubIndex 002	reserved	UINT32	RW	0x000003B6 (950_dec)

**) only for EL5021-0090

Index F082 MDP Profile Compatibility

Index (hex)	Name	Meaning	Data type	Flags	Default
F082:0	MDP profile compatibility	Maximum subindex	UINT8	RO	0x01 (1_dec)
F082:01	Compatible input cycle counter	reserved	BOOLEAN	RW	0x00 (0_dec)