Object description - 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

0x02581389 (39326601_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL6861

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

-

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

-

1011:0

Restore default parameters

Restore default settings

UINT8

RO

0x01 (1_dec)

1011:01

SubIndex 001

If this object is set to "0x64616F6C" in the set value dialog, all backup objects are reset to their delivery state.

UINT32

RW

0x00000000 (0_dec)

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

0x1ACD3052 (449654866_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

-

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

-

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

COM RxPDO-Map

PDO Mapping COM Outputs

UINT8

RO

>134<

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (COM Outputsl), entry 0x01 (Transmit request))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (COM Outputs), entry 0x02 (Receive accepted))

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (COM Outputs), entry 0x03 (Init request))

UINT32

RO

0x7000:03 1

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (COM Outputs), entry 0x04 (Send continuous))

UINT32

RO

0x7000:04, 1

1600:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1600:06

SubIndex 006

6. PDO Mapping entry (object 0x7000 (COM Outputs), entry 0x09 (Output len))

UINT32

RO

0x7000:09, 8

1600:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (COM Outputs), entry 0x09 (Data Out 0))

UINT32

RO

0x7000:0A, 8

…

…

…

…

…

…

1600:86

SubIndex 008

134. PDO Mapping entry (object 0x7000 (COM Outputs), entry 0x89 (Data Out 127))

UINT32

RO

0x7000:89, 8

1A00:0

COM RxPDO-Map

PDO Mapping DMX Status

UINT8

RW

>137<

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x01 (Transmit accepted))

UINT32

RW

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x02 (Receive request))

UINT32

RW

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x03 (Init accepted))

UINT32

RW

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x04 (Buffer full))

UINT32

RW

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x05 (Parity error))

UINT32

RW

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x06 (Framing error))

UINT32

RW

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x07 (Overrun error))

UINT32

RW

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x08 (Tx buffer empty))

UINT32

RW

0x6000:08, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x09 (Input length))

UINT32

RW

0x6000:09, 8

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x0A (Data In 0))

UINT32

RW

0x6000:0A, 8

…

…

…

…

…

…

1A00:0B

SubIndex 137

11. PDO Mapping entry (object 0x6000 (COM Inputs), entry 0x89 (Data In 127))

UINT32

RW

0x6000:89, 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)

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)

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

0x00000258 (600_dec)

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

0x20 (32_dec)

1C32:01

Sync mode

Current synchronization mode:

• 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
• 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 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: Synchron 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

0x0003 (3_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00002710 (10000_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

UINT32

RO

0x00000384 (900_ez)

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

0x00000384 (900_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

• 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

as 0x1C32:02

UINT32

RW

0x000F4240 (10000_dec)

1C33:03

Shift time

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

UINT32

RO

0x00000384 (900_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 0x1C32:08 or 0x1C33:08)

UINT16

RO

0x0003 (3_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x000102710 (10000_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

UINT322

RO

0x00000384 (900_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

0x00000384 (900_ez)

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

ROO

0x00 (0_dec)