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

0x01FF1389
(33493897_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EP5151-0002

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

0x141F4052 (337592402_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

0x00000000 (0_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)

1400:0

ENC RxPDO-Par Control compact

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6_dec)

1400:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 1

OCTET-STRING[2]

RO

01 16

1401:0

ENC RxPDO-Par Control

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[2]

RO

00 16

1600:0

ENC RxPDO-Map Control compact

PDO Mapping RxPDO 3

UINT8

RO

0x07 (7_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x01 (Enable latch C))

UINT32

RO

0x7000:01,1

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x02 (Enable latch extern on positive edge))

UINT32

RO

0x7000:02,1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x03 (Set counter))

UINT32

RO

0x7000:03, 1

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x04 (Enable latch extern on negative edge))

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 (8 bits align)

UINT32

RO

0x0000:00, 8

1600:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x11 (Set counter value))

UINT32

RO

0x7000:11, 16

1601:0

ENC RxPDO-Map

Control

PDO Mapping RxPDO

UINT8

RO

0x07 (7_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x01 (Enable latch C))

UINT32

RO

0x7000:01,1

1601:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x02 (Enable latch extern on positive edge))

UINT32

RO

0x7000:02,1

1601:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x03 (Set counter))

UINT32

RO

0x700:03,1

1601:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x04 (Enable latch extern on negative edge))

UINT32

RO

0x700:04,1

1601:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00,4

1601:06

SubIndex 006

6. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00,8

1601:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x11 (Set counter value))

UINT32

RO

0x7000:11,32

1800:0

ENC TxPDO-Par Status compact

PDO parameter TxPDO 1

UINT8

RO

0x09 (9_dec)

1800:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1.

OCTET-STRING[2]

RO

01 1A

1800:07

TxPDO State

The TxPDO state is set if it was not possible to correctly read in the associated input data.

BOOLEAN

RO

0x00 (0_dec)

1800:09

TxPDO Toggle

The TxPDO toggle is toggled with each update the corresponding input data.

BOOLEAN

RO

0x00 (0_dec)

1801:0

ENC TxPDO-Par Status

PDO parameter TxPDO 2

UINT8

RO

0x09 (9_dec)

1801:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2.

OCTET-STRING[2]

RO

00 1A

1801:07

TxPDO State

The TxPDO state is set if it was not possible to correctly read in the associated input data.

BOOLEAN

RO

0x00 (0_dec)

1801:09

TxPDO Toggle

The TxPDO toggle is toggled with each update the corresponding input data.

BOOLEAN

RO

0x00 (0_dec)

1802:0

ENC TxPDO-Par Frequency

PDO parameter TxPDO 3

UINT8

RO

0x06 (6_dec)

1802:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 3.

OCTET-STRING[2]

RO

03 1A

1803:0

ENC TxPDO-Par Period

PDO parameter TxPDO 4

UINT8

RO

0x06 (6_dec)

1803:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4.

OCTET-STRING[2]

RO

02 1A

1804:0

ENC TxPDO-Par Timestamp

PDO parameter TxPDO 5

UINT8

RO

0x06 (6_dec)

1804:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 5.

OCTET-STRING[2]

RO

05 1A

1805:0

ENC TxPDO-Par Timestamp compact

PDO parameter TxPDO 6

UINT8

RO

0x06 (6_dec)

1805:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 6.

OCTET-STRING[2]

RO

04 1A

1A00:0

ENC TxPDO-Map Status

ENC TxPDO-Map Status compact

UINT8

RO

0x012 (18_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x01 (Latch C valid))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x02 (Latch extern valid))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x03 (Set counter done))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x04 (Counter underflow))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x05 (Counter overflow))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x06 (Status of input status))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x07 (Open circuit))

UINT32

RO

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x08 (Extrapolation stall))

UINT32

RO

0x6000:08, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x09 (Status of input A))

UINT32

RO

0x6000:09, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0A (Status of input B))

UINT32

RO

0x6000:0A, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))

UINT32

RO

0x6000:0B, 1

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0C (Status of input gate))

UINT32

RO

0x6000:0C, 1

1A00:0D

SubIndex 013

13. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0D (Status of extern latch))

UINT32

RO

0x6000:0D, 1

1A00:0E

SubIndex 014

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

UINT32

RO

0x1C32:20, 1

1A00:0F

SubIndex 015

15. PDO Mapping entry (object 0x1800 (ENC TxPDO-Par Status compact), entry 0x07 (TxPDO State)

UINT32

RO

0x1800:07, 1

1A00:10

SubIndex 016

16. PDO Mapping entry (object 0x1800 (ENC TxPDO-Par Status compact), entry 0x09 (TxPDO Toggle))

UINT32

RO

0x1800:09, 1

1A00:11

SubIndex 017

17. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 16

1A00:12

SubIndex 018

18. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x12 (Latch value))

UINT32

RO

0x6000:12, 16

1A01:0

ENC TxPDO-Map Status compact

PDO Mapping TxPDO 2

UINT8

RO

0x12 (17_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x01 (Latch C valid))

UINT32

RO

0x6000:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x02 (Latch extern valid))

UINT32

RO

0x6000:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x03 (Set counter done))

UINT32

RO

0x6000:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x04 (Counter underflow))

UINT32

RO

0x6000:04, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x05 (Counter overflow))

UINT32

RO

0x6000:05, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x06 (Status of input status))

UINT32

RO

0x6000:06, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x07 (Open circuit))

UINT32

RO

0x6000:07, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x08 (Extrapolation stall))

UINT32

RO

0x6000:08, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x09 (Status of input A))

UINT32

RO

0x6000:09, 1

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0A (Status of input B))

UINT32

RO

0x6000:0A, 1

1A01:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))

UINT32

RO

0x6000:0B, 1

1A01:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0C (Status of input gate))

UINT32

RO

0x6000:0C, 1

1A01:0D

SubIndex 013

13. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0D (Status of extern latch))

UINT32

RO

0x6000:0D, 1

1A01:0E

SubIndex 014

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

UINT32

RO

0x1C32:20, 1

1A01:0F

SubIndex 015

15. PDO Mapping entry (object 0x1801 (ENC TxPDO-Par Status), entry 0x07 (TxPDO State))

UINT32

RO

0x1801:07, 1

1A01:10

SubIndex 016

16. PDO Mapping entry (object 0x1801 (ENC TxPDO-Par Status), entry 0x09 (TxPDO Toggle))

UINT32

RO

0x1801:09, 1

1A01:11

SubIndex 017

17. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

1A01:12

SubIndex 018

18. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x12 (Latch value))

UINT32

RO

0x6000:12, 32

1A02:0

TxPDO map frequency

PDO Mapping TxPDO

UINT8

RO

0x01 (1_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (Inputs), entry 0x13 (Frequency value))

UINT32

RO

0x6000:13, 32

1A03:0

ENC TxPDO-Map Period

ENC TxPDO-Map Period

UINT8

RO

0x01 (1_dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x14 (Period value))

UINT32

RO

0x6000:14,32

1A04:0

ENC TxPDO-Map Timest. compact

PDO Mapping TxPDO

UINT8

RO

0x01 (1_dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x16 (Timestamp))

UINT32

RO

0x6000:16, 64

1A05:0

ENC TxPDO-Map Timest. compact

PDO Mapping TxPDO

UINT8

RO

0x01 (1_dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x16 (Timestamp))

UINT32

RO

0x6000:16, 32

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

0x01 (1_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

0x01 (1_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

0x0000 (0_dec)

1C13:03

SubIndex 003

3. 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: Synchron with SM 2 Event
• 2: DC-Mode - Synchron with SYNC0 Event
• 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

0x00000000 (0_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

0x00000000 (0_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

With this entry the real required process data provision time can be measured.

• 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:

• 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

0x00000000 (0_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: 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

0xC007 (49159_dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x00000000 (0_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)

1C33:06

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

0x0001 (1_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Maximum subindex

UINT8

RW

0x01 (1_dec)

F010:01

SubIndex 001

reserved

UINT32

RW

0x000001FF (511_dec)