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

0x00000192 (402_dec)

1001:0

Error register

UINT8

RO

0x00 (0_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL72x1-0001

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

0x1C213052 (471937106_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

0x00110001 (1114113_dec)

1018:04

Serial number

Unique serial number

UINT32

RO

0x00000000 (0_dec)

1600:0

DS402 RxPDO-Map Controlword

PDO Mapping RxPDO 1

UINT8

RO

0x01 (1_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x6040 (Controlword), entry 0x00 (Controlword))

UINT32

RO

0x6040:00, 16

1601:0

DS402 RxPDO-Map Target velocity

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x60FF (Target velocity), entry 0x00 (Target velocity))

UINT32

RO

0x60FF:00, 32

1602:0

DS402 RxPDO-Map Target torque

PDO Mapping RxPDO 3

UINT8

RO

0x01 (1_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x6071 (Target torque), entry 0x00 (Target torque))

UINT32

RO

0x6071:00, 16

1603:0

DS402 RxPDO-Map Commutation angle

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1_dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x60EA (Commutation angle), entry 0x00 (Commutation angle))

UINT32

RO

0x60EA:00, 16

1604:0

DS402 RxPDO-Map Torque limitation

PDO Mapping RxPDO 5

UINT8

RO

0x01 (1_dec)

1604:01

SubIndex 001

1. PDO Mapping entry (object 0x6072 (Max torque), entry 0x00 (Max torque))

UINT32

RO

0x6072:00, 16

1605:0

DS402 RxPDO-Map Torque offset

PDO Mapping RxPDO 6

UINT8

RO

0x01 (1_dec)

1605:01

SubIndex 001

1. PDO Mapping entry (object 0x2001 (Outputs), entry 0x11 (Torque offset))

UINT32

RO

0x2001:11, 16

1606:0

DS402 RxPDO-Map Target position

PDO Mapping RxPDO 7

UINT8

RO

0x01 (1_dec)

1606:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x607A:00, 32

1A00:0

DS402 TxPDO-Map Statusword

PDO Mapping TxPDO 1

UINT8

RO

0x01 (1_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6041 (Statusword), entry 0x00 (Statusword))

UINT32

RO

0x6041:00, 16

1A01:0

DS402 TxPDO-Map Position actual value

PDO Mapping TxPDO 2

UINT8

RO

0x01 (1_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6064 (Position actual value), entry 0x00 (Position actual value))

UINT32

RO

0x6064:00, 32

1A02:0

DS402 TxPDO-Map Veloacity actual value

PDO Mapping TxPDO 3

UINT8

RO

0x01 (1_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x606C (Velocity actual value), entry 0x00 (Velocity actual value))

UINT32

RO

0x606C:00, 32

1A03:0

DS402 TxPDO-Map Torque actual value

PDO Mapping TxPDO 4

UINT8

RO

0x01 (1_dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6077 (Torque actual value), entry 0x00 (Torque actual value))

UINT32

RO

0x6077:00, 16

1A04:0

DS402 TxPDO-Map Following error actual value

PDO Mapping TxPDO 5

UINT8

RO

0x01 (1_dec)

1A04:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x60F4:00, 32

1A0A:0

DS402 TxPDO-Map TxPDO Data Invalid

PDO Mapping TxPDO 6

UINT8

RO

0x03 (3_dec)

1A0A:01

SubIndex 001

1. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A0A:02

SubIndex 002

2. PDO Mapping entry (object 0x603E (TxPDO Data Invalid), entry 0x02 (TxPDO Data invalid__Position actual value))

UINT32

RO

0x603E:02, 1

1A0A:03

SubIndex 003

3. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

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

0x02 (2_dec)

1C12:01

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)

UINT16

RW

0x1601 (5633_dec)

1C12:03

SubIndex 003

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

UINT16

RW

0x0000 (0_dec)

1C12:04

SubIndex 004

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

UINT16

RW

0x0000 (0_dec)

1C12:05

SubIndex 005

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

UINT16

RW

0x0000 (0_dec)

1C12:06

SubIndex 006

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

UINT16

RW

0x0000 (0_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)

1C13:03

SubIndex 003

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

UINT16

RW

0x0000 (0_dec)

1C13:04

SubIndex 004

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

UINT16

RW

0x0000 (0_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 - Synchronous with SYNC1 event

UINT16

RW

0x0000 (0_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

0x0003D090 (250000_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 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

0xC007 (49159_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0001E848 (125000_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

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, 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:

• 3: DC - Synchronous with SYNC1 Event

UINT16

RW

0x0000 (0_dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

0x0003D090 (250000_dec)

1C33:03

Shift time

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

UINT32

RO

0x00001C52 (7250_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 0x1C32:08 or 0x1C33:08)

UINT16

RO

0xC007 (49159_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x0001E848 (125000_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

0x00001C52 (7250_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

0x00001C52 (7250_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)

F008:0

Code word

see note!

UINT32

RW

0x00000000 (0_dec)

FB00:0

Command

Maximum subindex

UINT8

RO

0x03 (3_dec)

FB00:01

Request

reserved

OCTET-STRING[2]

RW

{0}

FB00:02

Status

reserved

UINT8

RO

0x00 (0_dec)

FB00:03

Response

reserved

OCTET-STRING[4]

RO

{0}