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

0x02AD1389(44897161_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL6851 (EL6851-0010)

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

0x1AC33052(448999506_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

0x00110000 (1114112_dec)

[0x0010000A
(1048586_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

-

1600:0

DMX TxPDO-Map Control

PDO Mapping DMX Control

UINT8

RO

0x09 (9_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (DMX Control), entry 0x01 (Transmit request))

UINT32

RO

0x7000:00, 1

1600:02

SubIndex 002

2. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (DMX Control), entry 0x03 (Disable cyclic TxD))

UINT32

RO

0x7000:03, 1

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (DMX Control), entry 0x04 (Send default data))

UINT32

RO

0x7000:04, 1

1600:05

SubIndex 005

5. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1600:06

SubIndex 006

6. PDO Mapping entry (object 0x7000 (DMX Control), entry 0x06 (Channel length))

UINT32

RO

0x7000:11, 16

1600:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (DMX Control), entry 0x07 (Start code))

UINT32

RO

0x7000:12, 8

1600:08

SubIndex 008

8. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

160n:0

DMX RxPDO-Map
Channel 1 - 64
(65 - 128, 129 - 192, ..., 449  - 512)

RxPDO PDO Mapping DMX Channel 1 - 64 (65 - 128, 129 - 192, ..., 449 - 512)

UINT8

RO

0x40 (64_dec)

160n:01

SubIndex 001

1. PDO Mapping entry (object 0x700[n+1]) (DMX Channel 1-64 [65 - 128, 129 - 192, ..., 449 - 512]), entry 0x01

UINT32

RO

0x700[n+1]:01, 8

…

…

…

…

…

…

160n:40

SubIndex 064

64. PDO Mapping entry (object 0x700[n+1]) (DMX Channel 1-64 [65 - 128, 129 - 192, ..., 449 - 512]), entry 0x40

UINT32

RO

0x700[n+1]:40, 8

1A00:0

DMX TxPDO-Map Status

PDO Mapping DMX Status

UINT8

RW

0x0B (11_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DMX Control), entry 0x01 (Transmit accepted))

UINT32

RW

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DMX Control), entry 0x02 (Receive toggle))

UINT32

RW

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (DMX Control), entry 0x03 (Cyclic TxD disabled))

UINT32

RW

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (DMX Control), entry 0x04 (Default data sent))

UINT32

RW

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (9 bits align)

UINT32

RW

0x0000:00, 9

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (DMX Control), entry 0x0E (Frame sent toggle))

UINT32

RW

0x6000:0E, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (1 bit align)

UINT32

RW

0x0000:00, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x1800, entry 0x09 (TxPDO-Toggle))

UINT32

RW

0x1800:09, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (DMX Control), entry 0x09 (Channel length))

UINT32

RW

0x6000:11, 16

1A00:0A

SubIndex 009

10. PDO Mapping entry (object 0x6000 (DMX Control), entry 0x0A (Start code))

UINT32

RW

0x6000:12, 8

1A00:0B

SubIndex 009

11. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

1A00:0

DMX TxPDO-Map Status

PDO Mapping DMX Status

UINT8

RW

0x0B (11_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (1 bit align)

UINT32

RW

0x0000:00, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DMX Status), entry 0x02 (Receive toggle))

UINT32

RW

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (3 bits align)

UINT32

RW

0x0000:03, 3

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (DMX Status), entry 0x06 (Framing error))

UINT32

RW

0x6000:06, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (DMX Status), entry 0x07 (Overrun error))

UINT32

RW

0x6000:07, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (7 bits align)

UINT32

RW

0x0000:00, 7

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x1800, entry 0x07 (TxPDO-State))

UINT32

RW

0x1800:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x1800, entry 0x09 (TxPDO-Toggle))

UINT32

RW

0x1800:09, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (DMX Control), entry 0x09 (Channel length))

UINT32

RW

0x6000:11, 16

1A00:0A

SubIndex 009

10. PDO Mapping entry (object 0x6000 (DMX Control), entry 0x0A (Start code))

UINT32

RW

0x6000:12, 8

1A00:0B

SubIndex 009

11. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

1A0n:0

DMX TxPDO-Map

TxPDO PDO Mapping DMX Channel 1 – 64 (65 - 128, 129 - 192, ..., 449 - 512)

UINT8

RO

0x40 (64_dec)

1A0n:01

SubIndex 001

1. PDO Mapping entry (object 0x600[n+1]) (DMX Channel 1-64 [65 - 128, 129 - 192, ..., 449 - 512]), entry 0x01

UINT32

RO

0x600[n+1]:01, 8

…

(65 - 128, 129 - 192, ..., 449 - 512)

…

…

…

…

1A0n:40

SubIndex 064

64. PDO Mapping entry (object 0x600[n+1]) (DMX Channel 1-64 [65 - 128, 129 - 192, ..., 449 - 512]), entry 0x40

UINT32

RO

0x600[n+1]:40, 8

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

0x09 (9_dec)

1C32:01

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)

UINT8

RW

0x1601 (5633_dec)

1C12:03

SubIndex 003

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

UINT8

RW

0x1602 (5634_dec)

1C12:04

SubIndex 004

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

UINT8

RW

0x1603 (5635_dec)

1C12:05

SubIndex 005

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

UINT8

RW

0x1604 (5636_dec)

1C12:06

SubIndex 006

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

UINT8

RW

0x1605 (5637_dec)

1C12:07

SubIndex 007

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

UINT8

RW

0x1606 (5638_dec)

1C12:08

SubIndex 008

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

UINT8

RW

0x1607 (5639_dec)

1C12:09

SubIndex 009

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

UINT8

RW

0x1608 (5640_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

-

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)

UINT8

RW

0x1A00 (6656_dec)

1C13:02

Subindex 002

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

UINT8

RW

0x1A01 (6657_dec)

1C13:03

Subindex 003

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

UINT8

RW

-

1C13:04

Subindex 004

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

UINT8

RW

-

1C13:05

Subindex 005

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

UINT8

RW

-

1C32:06

Subindex 006

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

UINT8

RW

-

1C13:07

Subindex 007

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

UINT8

RW

-

1C13:08

Subindex 008

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

UINT8

RW

-

1C13:09

Subindex 009

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

UINT8

RW

-

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

0x017D7840 (25000000_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 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

0x000222E0 (140000_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)

1C33:08

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

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

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

0x0001 (1_dec)

F008:0

Code word

currently reserved

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Maximum subindex

UINT8

RW

0x01 (1_dec)

F010:01

SubIndex 001

reserved

UINT32

RW

0x000002AD (685_dec)