Standard objects (0x1000-0x1FFF)

1000:0

Device type

Device type of the EtherCAT slave: The Lo-Word contains the CoE profile used (5002).

UINT32

RO

0x0000138A (5002_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

e.g. EL6601-0000-0017

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

00

1600+n:0

RxPDO-Map

PDO Mapping RxPDO
(each module gets its own entry (Index 0x1600+n),
0 ≤ n < maximum number of modules

UINT8

RW

0x02 (2_dec)

(1600+n):01

Output Mapping Area 001

1. PDO Mapping Entry (Object 7000+n*8:07)

UINT32

RW

0x7000+n*8:07, 16

(1600+n):02

Output Mapping Area 002

2. PDO Mapping Entry (Object 7000+n*8:0B)

UINT32

RW

0x7000+n*8:0B, 16

1680:0

PDO control

Max. subindex

UINT8

RW

0x01 (1_dec)

1680:01

PDO control

Entry Master Control

UINT32

RW

0xF100:02, 16

1A00+n:0

TxPDO Map Ch.2

PDO Mapping TxPDO

(each module gets its own entry (Index 0x1A00+n),
0 ≤ n < maximum number of modules

UINT8

RW

0x03 (3_dec)

(1A00+n):01

Input Mapping Area 001

1. PDO Mapping Entry (Object 0x6000+n*8:03)

UINT32

RW

0x6000+n*8:03, 16

(1A00+n):02

Input Mapping Area 002

2. PDO Mapping Entry (Object 0x6000+n*8:04)

UINT32

RW

0x6000+n*8:04, 16

(1A00+n):03

Input Mapping Area 003

3. PDO Mapping Entry (Object 0x6000+n*8:05)

UINT32

RW

0x6000+n*8:05, 16

1680:0

PDO status

Max. subindex

UINT8

RW

0x01 (1_dec)

1680:01

PDO status

Entry Master Status

UINT32

RW

0xF100:01, 16

1C00:0

Sync manager type

Using the sync managers

UINT8

RO

0x02 (2_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: Outputs

UINT8

RO

0x02 (2_dec)

1C00:04

SubIndex 004

Sync-Manager Type Channel 4: Inputs

UINT8

RO

0x02 (2_dec)

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

-

1C32:01

SubIndex 001

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

UINT32

RW

0x1600 (5632_dec)

...

1C12:80

SubIndex 128

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

UINT32

RW

0x167F (5759_dec)

1C12:81

SubIndex 129

PDO Control

UINT32

RW

0x1680 (5760_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

-

1C13:01

SubIndex 001

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

UINT32

RW

0x1A00 (6656_dec)

...

1C13:80

SubIndex 128

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

UINT32

RW

0x1A7F (6783_dec)

1C13:81

SubIndex 129

PDO status

UINT32

RW

0x1A80 (6784_dec)

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RW

0x0E (14_dec)

1C32:01

Sync mode

Current synchronization mode:

• 1: Synchronous 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
• 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

RW

0x00000000 (0_dec)

1C32:04

Sync modes supported

Supported synchronization modes:

• Bit 1 = 1: Synchron with SM 2 event is supported

UINT16

RW

0x0002 (2_dec)

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RW

0x0E (14_dec)

1C33:01

Sync mode

Current synchronization mode:

• 34: Synchron with SM 2 Event (outputs available)

UINT16

RW

0x0022 (34_dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

0x00000000 (0_dec)

1C33:03

Shift time

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

UINT32

RW

0x00000000 (0_dec)

1C33:04

Sync modes supported

Supported synchronization modes:

• Bit 1: Synchronous with SM 2 Event is supported (outputs available)

UINT16

RW

0x0002 (2_dec)