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

0x01FF1389 (33493897_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL5151-0021

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

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

0x141F3052 (337588306_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

0x00110015 (1114133_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)

1600:0

ENC RxPDO-Map Control

PDO Mapping RxPDO 1

UINT8

RO

0x07 (7_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 (object 0x7000 (ENC Outputs), entry 0x02 (Enable latch extern on positive edge))

UINT32

RO

0x7000:02, 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 (object 0x7000 (ENC Outputs), entry 0x04 (Enable latch extern on negative edge))

UINT32

RO

0x7000:04, 1

1600:05

SubIndex 005

5. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x05 (Set output))

UINT32

RO

0x7000:05, 1

1600:06

SubIndex 006

6. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x06 (Enable Output functions))

UINT32

RO

0x7000:06, 1

1600:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x07 (Enable measurement))

UINT32

RO

0x7000:07, 1

1600:08

SubIndex 008

8. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x08 (Set counter on Latch C))

UINT32

RO

0x7000:08, 1

1600:09

SubIndex 009

9. PDO Mapping entry (8 bits align))

UINT32

RO

0x0000:00, 8

1600:0A

SubIndex 010

10. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x11 (Set counter value))

UINT32

RO

0x7000:11, 32

1600:0B

SubIndex 011

11. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x12 (Switch on threshold value))

UINT32

RO

0x7000:12, 32

1600:0C

SubIndex 012

12. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x13 (Switch off threshold value))

UINT32

RO

0x7000:13, 32

1A00:0

ENC TxPDO-Map Status

PDO Mapping TxPDO 1

UINT8

RO

0x10 (16_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 (object 0x6000 (ENC Inputs), entry 0x02 (Latch extern valid))

UINT32

RO

0x6000:02, 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 (2 bits align)

UINT32

RO

0x0000:00, 2

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6001 (ENC Inputs), entry 0x02 (Measurement done))

UINT32

RO

0x6001:02, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x09 (Status of input A))

UINT32

RO

0x6000:09, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0A (Status of Input B))

UINT32

RO

0x6000:0A, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))

UINT32

RO

0x6000:0B, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6001 (ENC Inputs), entry 0x01 (Status of output))

UINT32

RO

0x6001:01, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0D (Status of extern latch))

UINT32

RO

0x6000:0D, 1

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0E (Compatible input cycle counter high))

UINT32

RO

0x6000:0E, 1

1A00:0D

SubIndex 013

13. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:0E

SubIndex 014

14. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6000:10, 32

1A00:0F

SubIndex 015

15. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

1A00:10

Subindex 016

16. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x12 (Latch value))

0x6000:12, 32

1A01:0

ENC TxPDO-Map Filtered latch

PDO Mapping TxPDO 2

UINT8

RO

0x02 (2_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x17 (Latch value, rising edge))

UINT32

RO

0x6000:17, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x18 (Latch value, falling edge))

UINT32

RO

0x6000:18, 1

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

0x01 (1_dec)

1C12:01

SubIndex 001

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

UINT16

RW

0x1600 (5632_dec)

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

0x1A01 (6657_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

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

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

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 14 = 1: dynamic times (measurement by writing 0x1C32:08) (for revision no.: 17 – 25)

UINT16

RO

0xC007 (49159_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)
Default: 59.1ms

UINT32

RO

0x0000E6DC (59100_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

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, 0x1C33:03, 0x1C33:06 and 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

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

0x20 (32_dec)

1C33:01

Sync mode

Current synchronization mode:

• 0: Free Run
• 1: Synchronous with SM 3 event (no outputs available)
• 2: DC - Synchronous with SYNC0 Event
• 3: DC - Synchronous 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

0x00000000 (0_dec)

1C33:04

Sync modes supported

Supported synchronization modes:

• Bit 0 = 1: free run is supported
• Bit 1 = 1: Synchronous with SM 2 event is supported
• Bit 14 = 1: dynamic times (measurement by writing 0x1C32:08) (for revision no.: 17 – 25)

UINT16

RO

0xC007 (49159_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x0000E6DC (59100_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

Minimum time between Sync-1 Event and reading of the inputs (in ns, only DC mode)

UINT32

RO

0x00000000 (0_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

0x00000000 (0_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)

1C33:20

Sync error

as 0x1C32:32

BOOLEAN

RO

0x00 (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 spacing of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0001 (1_dec)

F008:0

Code word

NoCoeStorage function:

The input code of the code word 0x12345678 activates the NoCoeStorage function:

Changes to the CoE directory are not saved if the function is active. The function is deactivated by:
1.) changing the code word or
2.) restarting the terminal.

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Maximum subindex

UINT8

RW

0x01 (1_dec)

F010:01

SubIndex 001

reserved

UINT32

RW

0x000001FF (511_dec)

F082:0

MDP Profile Compatibility

Maximum subindex

UINT8

RO

0x01 (1_dec)

F082:01

Compatible input cycle counter

Status message for monitoring the process data

BOOLEAN

RW

0x00 (0_dec)