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

0x02DD1389 (48042889_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL7332

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

01

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

0x1CA43052 (480522322_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

0x00100000 (1048576_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)

1401:0

DCM RxPDO-Par Velocity Ch.1

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6_dec)

1401:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 2

OCTET-STRING[6]

RO

05 16 0A 16 0B 16

1403:0

DCM RxPDO-Par Velocity Ch.2

PDO Parameter RxPDO 4

UINT8

RO

0x06 (6_dec)

1403:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 4

OCTET-STRING[6]

RO

07 16 0C 16 0D 16

1600:0

DCM RxPDO-Map Control Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x05 (5_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (DCM Outputs Ch.1), entry 0x01 (Enable))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (DCM Outputs Ch.1), entry 0x02 (Reset))

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (DCM Outputs Ch.1), entry 0x03 (Reduce torque))

UINT32

RO

0x7000:03, 1

1600:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1600:05

SubIndex 005

5. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1601:0

DCM RxPDO-Map Velocity Ch.1

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (DCM Outputs Ch.1), entry 0x21 (Velocity))

UINT32

RO

0x7000:21, 16

1602:0

DCM RxPDO-Map Control Ch.2

PDO Mapping RxPDO 3

UINT8

RO

0x05 (5_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DCM Outputs Ch.2), entry 0x01 (Enable))

UINT32

RO

0x7010:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (DCM Outputs Ch.2), entry 0x02 (Reset))

UINT32

RO

0x7010:02, 1

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (DCM Outputs Ch.2), entry 0x03 (Reduce torque))

UINT32

RO

0x7010:03, 1

1602:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1602:05

SubIndex 005

5. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1603:0

DCM RxPDO-Map Velocity Ch.2

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1_dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DCM Outputs Ch.2), entry 0x21 (Velocity))

UINT32

RO

0x7010:21, 16

1A00:0

DCM TxPDO-Map Status Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x0E (14_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x01 (Ready to enable))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x02 (Ready))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x03 (Warning))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x04 (Error))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x05 (Moving positive))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x06 (Moving negative))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x07 (Torque reduced))

UINT32

RO

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x0C (Digital input 1))

UINT32

RO

0x6000:0C, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x0D (Digital input 2))

UINT32

RO

0x6000:0D, 1

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x1C32 (SM output parameter), entry 0x20 (Sync error))

UINT32

RO

0x1C32:20, 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 0x1800, entry 0x09)

UINT32

RO

0x1800:09, 1

1A01:0

DCM TxPDO-Map Synchron info data Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x02 (2_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x11 (Info data 1))

UINT32

RO

0x6000:11, 16

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x12 (Info data 2))

UINT32

RO

0x6000:12, 16

1A02:0

DCM TxPDO-Map Status Ch.2

PDO Mapping TxPDO 3

UINT8

RO

0x0E (14_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x01 (Ready to enable))

UINT32

RO

0x6010:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x02 (Ready))

UINT32

RO

0x6010:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x03 (Warning))

UINT32

RO

0x6010:03, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x04 (Error))

UINT32

RO

0x6010:04, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x05 (Moving positive))

UINT32

RO

0x6010:05, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x06 (Moving negative))

UINT32

RO

0x6010:06, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x07 (Torque reduced))

UINT32

RO

0x6010:07, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x0C (Digital input 1))

UINT32

RO

0x6010:0C, 1

1A02:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x0D (Digital input 2))

UINT32

RO

0x6010:0D, 1

1A02:0C

SubIndex 012

12. PDO Mapping entry (object 0x1C32 (SM output parameter), entry 0x20 (Sync error))

UINT32

RO

0x1C32:20, 1

1A02:0D

SubIndex 013

13. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A02:0E

SubIndex 014

14. PDO Mapping entry (object 0x1802, entry 0x09)

UINT32

RO

0x1802:09, 1

1A03:0

DCM TxPDO-Map Synchron info data Ch.2

PDO Mapping TxPDO 4

UINT8

RO

0x02 (2_dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x11 (Info data 1))

UINT32

RO

0x6010:11, 16

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x12 (Info data 2))

UINT32

RO

0x6010:12, 16

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

0x04 (4_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

0x1602 (5634_dec)

1C12:04

SubIndex 004

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

UINT16

RW

0x1603 (5635_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

0x1A02 (6658_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:

• 0: Free Run
• 1: Synchronous with SM 2 event
• 2: DC-Mode - Synchronous with SYNC0 Event
• 3: DC-Mode - Synchronous 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

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 1C32:03, 1C32:05, 1C32:06, 1C32:09, 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:

• 0: Free Run
• 1: Synchron with SM 3 Event (no outputs available)
• 2: DC - Synchronous with SYNC0 Event
• 3: DC - Synchronous 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 (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: 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 1C32:05

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

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 distance of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0002 (2_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Max. Subindex

UINT8

RW

0x02 (2_dec)

F010:01

SubIndex 001

Profile number of the DC motor interface

UINT32

RW

0x000002DD (733_dec)

F010:02

SubIndex 002

Profile number of the DC motor interface

UINT32

RW

0x000002DD (733_dec)