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

EL5032: 0x02011389 (5001_dec)

EL5032-0090: 0x00001389 (33624969_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL5032
EL5032-0090

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

01

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

09

1018:0

Identity

Information for identifying the slave

UINT8

RO

 > 4 <

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

0x13A83052 (329789522_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

0x00130000 (1245184_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

 > 1 <

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000D06 (3334_dec)

1800:0

FB TxPDO-Par Inputs Ch.1

PDO parameter TxPDO 1

UINT8

RO

> 6 <

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

02 1A

1801:0

FB TxPDO-Par Inputs Ch.2

PDO parameter TxPDO 2

UINT8

RO

> 6 <

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

03 1A

1802:0

FB TxPDO-Par Inputs Ch.1 compact

PDO parameter TxPDO 3

UINT8

RO

> 6 <

1802:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

00 1A

1803:0

FB TxPDO-Par Inputs Ch.2 compact

PDO parameter TxPDO 4

UINT8

RO

> 6 <

1803:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

01 1A

1A00:0

FB TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 1

UINT8

RO

> 9 <

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x01 (Warning))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x02 (Error))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x03 (Ready))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A00:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0D (Diag))

UINT32

RO

0x6000:0D, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0E (TxPDO State))

UINT32

RO

0x6000:0E, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0F (Input cycle counter))

UINT32

RO

0x6000:0F, 2

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

1A01:0

FB TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 2

UINT8

RO

> 9 <

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x01 (Warning))

UINT32

RO

0x6010:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x02 (Error))

UINT32

RO

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x03 (Ready))

UINT32

RO

0x6010:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A01:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0D (Diag))

UINT32

RO

0x6010:0D, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0E (TxPDO State))

UINT32

RO

0x6010:0E, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0F (Input cycle counter))

UINT32

RO

0x6010:0F, 2

1A01:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x11 (Position))

UINT32

RO

0x6010:11, 64

1A02:0

FB TxPDO-Map Inputs Ch.1 compact

PDO Mapping TxPDO 3

UINT8

RO

> 9 <

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x01 (Warning))

UINT32

RO

0x6000:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x02 (Error))

UINT32

RO

0x6000:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x03 (Ready))

UINT32

RO

0x6000:03, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A02:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0D (Diag))

UINT32

RO

0x6000:0D, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0E (TxPDO State))

UINT32

RO

0x6000:0E, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0F (Input cycle counter))

UINT32

RO

0x6000:0F, 2

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x11 (Position))

UINT32

RO

0x6000:11, 32

1A03:0

FB TxPDO-Map Inputs Ch.2 compact

PDO Mapping TxPDO 4

UINT8

RO

> 9 <

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x01 (Warning))

UINT32

RO

0x6010:01, 1

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x02 (Error))

UINT32

RO

0x6010:02, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x03 (Ready))

UINT32

RO

0x6010:03, 1

1A03:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A03:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A03:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0D (Diag))

UINT32

RO

0x6010:0D, 1

1A03:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0E (TxPDO State))

UINT32

RO

0x6010:0E, 1

1A03:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x0F (Input cycle counter))

UINT32

RO

0x6010:0F, 2

1A03:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), entry 0x11 (Position))

UINT32

RO

0x6010:11, 32

1A04:0

FB TxPDO-Map Velocity Ch.1

PDO Mapping TxPDO 5

UINT8

RO

> 1 <

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6008 (FB EnDat Inputs Ch.1), entry 0x12 (Velocity))

UINT32

RO

0x6008:12, 32

1A05:0

FB TxPDO-Map Velocity Ch.2

PDO Mapping TxPDO 6

UINT8

RO

> 1 <

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6018 (FB EnDat Inputs Ch.2), entry 0x12 (Velocity))

UINT32

RO

0x6018:12, 32

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 <

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

> 1 <

1C12:1

SubIndex 001

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

UINT16

RW

0x1610 (5648)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

> 2 <

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)

1C13:03*

Subindex 003

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

UINT16

RW

0x1A10 (6672_dec)

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

> 32 <

1C32:01

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

0x0001 (1_dec)

1C32:02

Cycle time

Cycle time (in ns):

• Free Run: Cycle time of the local timer
• Synchron 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 reading of the inputs (in ns, only DC mode)

UINT32

RO

0x00000000 (0_dec)

1C32:04

Sync modes supported

Supported synchronization modes:

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

UINT16

RO

0x0807 (2055_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000_dec)

1C32:06

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)

1C32:07

Minimum delay time

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, 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 reading of the inputs (in ns, only DC mode)

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)

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

> 32 <

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
• Synchron 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, only DC mode)

UINT32

RO

0x00000000 (0_dec)

1C33:04

Sync modes supported

Supported synchronization modes:

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

0x0807 (2055_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)

1C33:07

Minimum delay time

UINT32

RO

0x00000000 (0_dec)

1C33:08

Command

• 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)

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

EL5032: 0x0002 (2_dec) EL5032-0090: 0x0003 (3_dec)

F008:0

Code word

see object 0x80p8:13

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Max. subindex

UINT8

RW

> 3 <

F010:01

SubIndex 001

MDP FB profiles 513

UINT32

RW

0x00000201 (513_dec)

F010:02

SubIndex 002

MDP FB profiles 513

UINT32

RW

0x00000201 (513_dec)

F010:03*

SubIndex 003

MDP FB profiles 950

UINT32

RW

0x000003B6 (950_dec)

FB40:0

Memory interface

Max. subindex

UINT8

RO

> 3 <

FB40:01

Address

reserved

UINT32

RW

0x00000000 (0_dec)

FB40:02

Length

reserved

UINT16

RW

0x0000 (0_dec)

FB40:03

Data

reserved

OCTET-STRING[8]

RW

{0}