Standard objects (0x1000-0x1FFF)
The standard objects have the same meaning for all EtherCAT slaves.
Index 1000 Device type
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
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 | 0x00001389 (5001dec) |
Index 1008 Device name
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1008:0 | Device name | Device name of the EtherCAT slave | STRING | RO | EJ2522 |
Index 1009 Hardware version
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1009:0 | Hardware version | Hardware version of the EtherCAT slave | STRING | RO | 00 |
Index 100A Software version
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
100A:0 | Software version | Firmware version of the EtherCAT slave | STRING | RO | 01 |
Index 1018 Identity
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1018:0 | Identity | Information for identifying the slave | UINT8 | RO | 0x04 (4dec) |
1018:01 | Vendor ID | Vendor ID of the EtherCAT slave | UINT32 | RO | 0x00000002 (2dec) |
1018:02 | Product code | Product code of the EtherCAT slave | UINT32 | RO | 0x09DA2852 (165292114dec) |
1018:03 | Revision | Revision number of the EtherCAT slave; the Low Word (bit 0-15) indicates the special module number, the High Word (bit 16-31) refers to the device description | UINT32 | RO | 0x00000000 (0dec) |
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 (0dec) |
Index 10F0 Backup parameter handling
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
10F0:0 | Backup parameter handling | Information for standardized loading and saving of backup entries | UINT8 | RO | 0x01 (1dec) |
10F0:01 | Checksum | Checksum across all backup entries of the EtherCAT slave | UINT32 | RO | 0x00000000 (0dec) |
Index 1400 PTO RxPDO-Par Control Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1400:0 | PTO RxPDO-Par Control Ch.1 | PDO Parameter RxPDO 1 | UINT8 | RO | 0x06 (6dec) |
1400:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 1 | OCTET-STRING[6] | RO | 01 16 |
Index 1401 PTO RxPDO-Par Control Position Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1401:0 | PTO RxPDO-Par Control Position Ch.1 | PDO Parameter RxPDO 2 | UINT8 | RO | 0x06 (6dec) |
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 |
Index 1402 PTO RxPDO-Par Target compact Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1402:0 | PTO RxPDO-Par Target compact Ch.1 | PDO Parameter RxPDO 3 | UINT8 | RO | 0x06 (6dec) |
1402:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 3. | OCTET-STRING[2] | RO | 01 16 |
Index 1403 PTO RxPDO-Par Target Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1403:0 | PTO RxPDO-Par Target Ch.1 | PDO Parameter RxPDO 4 | UINT8 | RO | 0x06 (6dec) |
1403:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 4. | OCTET-STRING[2] | RO | 01 16 |
Index 1404 PTO RxPDO-Par Arrival Ch. 1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1404:0 | PTO RxPDO-Par Arrival Ch. 1 | PDO Parameter RxPDO 5 | UINT8 | RO | 0x06 (6dec) |
1404:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 5. | OCTET-STRING[2] | RO | 00 16 |
Index 1405 PTO RxPDO-Par Control Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1405:0 | PTO RxPDO-Par Control Ch.2 | PDO Parameter RxPDO 6 | UINT8 | RO | 0x06 (6dec) |
1405:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 6 | OCTET-STRING[2] | RO | 06 16 |
Index 1406 PTO RxPDO-Par Control Position Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1406:0 | PTO RxPDO-Par Control Position Ch.2 | PDO Parameter RxPDO 7 | UINT8 | RO | 0x06 (6dec) |
1406:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 7 | OCTET-STRING[2] | RO | 05 16 |
Index 1407 PTO RxPDO-Par Target compact Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1407:0 | PTO RxPDO-Par Target compact Ch.2 | PDO Parameter RxPDO 8 | UINT8 | RO | 0x06 (6dec) |
1407:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 8 | OCTET-STRING[2] | RO | 06 16 |
Index 1408 PTO RxPDO-Par Target Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1408:0 | PTO RxPDO-Par Target Ch.2 | PDO Parameter RxPDO 9 | UINT8 | RO | 0x06 (6dec) |
1408:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 9 | OCTET-STRING[2] | RO | 06 16 |
Index 1409 PTO RxPDO-Par Arrival Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1409:0 | PTO RxPDO-Par Arrival Ch.2 | PDO Parameter RxPDO 10 | UINT8 | RO | 0x06 (6dec) |
1409:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 10 | OCTET-STRING[6] | RO | 05 16 |
Index 140A ENC RxPDO-Par Control compact Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
140A:0 | ENC RxPDO-Par Control compact Ch.1 | PDO Parameter RxPDO 11 | UINT8 | RO | 0x06 (6dec) |
140A:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 11 | OCTET-STRING[6] | RO | 0B 16 |
Index 140B ENC RxPDO-Par Control Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
140B:0 | ENC RxPDO-Par Control Ch.1 | PDO Parameter RxPDO 12 | UINT8 | RO | 0x06 (6dec) |
140B:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 12 | OCTET-STRING[6] | RO | 0A 16 |
Index 140C ENC RxPDO-Par Control compact Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
140C:0 | ENC RxPDO-Par Control compact Ch.2 | PDO Parameter RxPDO 13 | UINT8 | RO | 0x06 (6dec) |
140C:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 13 | OCTET-STRING[6] | RO | 0D 16 |
Index 140D ENC RxPDO-Par Control Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
140D:0 | ENC RxPDO-Par Control Ch.2 | PDO Parameter RxPDO 14 | UINT8 | RO | 0x06 (6dec) |
140D:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 14 | OCTET-STRING[6] | RO | 0C 16 |
Index 1600 PTO RxPDO-Map Control Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1600:0 | PTO RxPDO-Map Control | PDO Mapping RxPDO 1 | UINT8 | RO | 0x05 (5dec) |
1600:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7000 (PTO Outputs), entry 0x01 (Frequency select)) | UINT32 | RO | 0x7000:01, 1 |
1600:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x02 (Disable ramp)) | UINT32 | RO | 0x7000:02, 1 |
1600:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x03 (Go counter)) | UINT32 | RO | 0x7000:03, 1 |
1600:04 | SubIndex 004 | 4. PDO Mapping entry (13 bits align) | UINT32 | RO | 0x0000:00, 13 |
1600:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x11 (Frequency value)) | UINT32 | RO | 0x7000:11, 16 |
Index 1601 PTO RxPDO-Map Control Position Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default | |
---|---|---|---|---|---|---|
1601:0 | PTO RxPDO-Map Control Position Ch.1 | PDO Mapping RxPDO 2 | UINT8 | RO | 0x06 (6dec) | |
1601:01 | SubIndex 001 | 1. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 | |
1601:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x04 (Automatic direction)) | UINT32 | RO | 0x7000:04, 1 | |
1601:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x05 (Forward)) | UINT32 | RO | 0x7000:05, 1 | |
1601:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x06 (Backward)) | UINT32 | RO | 0x7000:06, 1 | |
1601:05 | SubIndex 005 | 5. PDO Mapping entry (10 bits align) | UINT32 | RO | 0x0000:00, 10 | |
1601:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x12 (Target counter value)) | UINT32 | RO | 0x7000:12, 32 |
Index 1602 PTO RxPDO-Map Target compact Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1602:0 | PTO RxPDO-Map Target compact Ch.1 | PDO Mapping RxPDO 3 | UINT8 | RO | 0x01 (1dec) |
1602:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x12 (Target counter value)) | UINT32 | RO | 0x7000:12, 16 |
Index 1603 PTO RxPDO-Map Target Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1603:0 | PTO RxPDO-Map Target Ch.1 | PDO Mapping RxPDO 4 | UINT8 | RO | 0x01 (1dec) |
1603:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x12 (Target counter value)) | UINT32 | RO | 0x7000:12, 32 |
Index 1604 PTO RxPDO-Map Arrival Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1604:0 | PTO RxPDO-Map Arrival Ch.1 | PDO Mapping RxPDO 5 | UINT8 | RO | 0x01 (1dec) |
1604:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x13 (Target arrival time)) | UINT32 | RO | 0x7000:13, 64 |
Index 1605 PTO RxPDO-Map Control Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1605:0 | PTO RxPDO-Map Control Ch.2 | PDO Mapping RxPDO 6 | UINT8 | RO | 0x05 (5dec) |
1605:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x01 (Frequency select)) | UINT32 | RO | 0x7010:01, 1 |
1605:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x02 (Disable ramp)) | UINT32 | RO | 0x7010:02, 1 |
1605:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x03 (Go counter)) | UINT32 | RO | 0x7010:03, 1 |
1605:04 | SubIndex 004 | 4. PDO Mapping entry (13 bits align) | UINT32 | RO | 0x0000:00, 13 |
1605:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x11 (Frequency value)) | UINT32 | RO | 0x7010:11, 16 |
Index 1606 PTO RxPDO-Map Control Position Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1606:0 | PTO RxPDO-Map Control Position Ch.2 | PDO Mapping RxPDO 7 | UINT8 | RO | 0x06 (6dec) |
1606:01 | SubIndex 001 | 1. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1606:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x04 (Automatic direction)) | UINT32 | RO | 0x7010:04, 1 |
1606:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x05 (Forward)) | UINT32 | RO | 0x7010:05, 1 |
1606:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x06 (Backward)) | UINT32 | RO | 0x7010:06, 1 |
1606:05 | SubIndex 005 | 5. PDO Mapping entry (10 bits align) | UINT32 | RO | 0x000:00, 10 |
1606:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x12 (Target counter value)) | UINT32 | RO | 0x7010:12, 32 |
Index 1607 PTO RxPDO-Map Target compact Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1607:0 | PTO RxPDO-Map Target compact Ch.2 | PDO Mapping RxPDO 8 | UINT8 | RO | 0x01 (1dec) |
1607:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x12 (Target counter value)) | UINT32 | RO | 0x7010:12, 16 |
Index 1608 PTO RxPDO-Map Target Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1608:0 | PTO RxPDO-Map Target Ch.2 | PDO Mapping RxPDO 9 | UINT8 | RO | 0x01 (1dec) |
1608:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x12 (Target counter value)) | UINT32 | RO | 0x7010:12, 32 |
Index 1609 PTO RxPDO-Map Arrival Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1609:0 | PTO RxPDO-Map Arrival Ch.2 | PDO Mapping RxPDO 10 | UINT8 | RO | 0x01 (1dec) |
1609:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x13 (Target arrival time)) | UINT32 | RO | 0x7010:13, 64 |
Index 160A ENC RxPDO-Map Control compact Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
160A:0 | ENC RxPDO-Map Control compact Ch.1 | PDO Mapping RxPDO 11 | UINT8 | RO | 0x05 (5dec) |
160A:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
160A:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x03 (Set counter)) | UINT32 | RO | 0x7020:03, 1 |
160A:03 | SubIndex 003 | 3. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x0000:00, 12 |
160A:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x10 (Reserved)) | UINT32 | RO | 0x7020:10, 1 |
160A:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x11 (Set counter value)) | UINT32 | RO | 0x7020:11, 16 |
Index 160B ENC RxPDO-Map Control Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
160B:0 | ENC RxPDO-Map Control Ch.1 | PDO Mapping RxPDO 12 | UINT8 | RO | 0x05 (5dec) |
160B:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
160B:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x03 (Set counter)) | UINT32 | RO | 0x7020:03, 1 |
160B:03 | SubIndex 003 | 3. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x0000:00, 12 |
160B:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x10 (Reserved)) | UINT32 | RO | 0x7020:10, 1 |
160B:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x11 (Set counter value)) | UINT32 | RO | 0x7020:11, 32 |
Index 160C ENC RxPDO-Map Control compact Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
160C:0 | ENC RxPDO-Map Control compact Ch.2 | PDO Mapping RxPDO 13 | UINT8 | RO | 0x05 (5dec) |
160C:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
160C:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x03 (Set counter)) | UINT32 | RO | 0x7030:03, 1 |
160C:03 | SubIndex 003 | 3. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x0000:00, 12 |
160C:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x10 (Reserved)) | UINT32 | RO | 0x7030:10, 1 |
160C:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x11 (Set counter value)) | UINT32 | RO | 0x7030:11, 16 |
Index 160D ENC RxPDO-Map Control Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
160D:0 | ENC RxPDO-Map Control Ch.2 | PDO Mapping RxPDO 14 | UINT8 | RO | 0x05 (5dec) |
160D:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
160D:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x03 (Set counter)) | UINT32 | RO | 0x7030:03, 1 |
160D:03 | SubIndex 003 | 3. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x0000:00, 12 |
160D:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x10 (Reserved)) | UINT32 | RO | 0x7030:10, 1 |
160D:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x11 (Set counter value)) | UINT32 | RO | 0x7030:11, 32 |
Index 1802 ENC TxPDO-Par Status compact Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1802:0 | ENC TxPDO-Par Status compact Ch.1 | PDO Mapping TxPDO 3 | UINT8 | RO | 0x06 (6dec) |
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 |
Index 1803 ENC TxPDO-Par Status Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1803:0 | ENC TxPDO-Par Status Ch.1 | PDO parameter TxPDO 4 | UINT8 | RO | 0x06 (6dec) |
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 |
Index 1804 ENC TxPDO-Par Status compact Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1804:0 | ENC TxPDO-Par Status compact Ch.2 | PDO parameter TxPDO 5 | UINT8 | RO | 0x06 (6dec) |
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 |
Index 1805 ENC TxPDO-Par Status Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1805:0 | ENC TxPDO-Par Status Ch.2 | PDO parameter TxPDO 6 | UINT8 | RO | 0x06 (6dec) |
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 |
Index 1A00 PTO TxPDO-Map Status Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A00:0 | PTO TxPDO-Map Status Ch.1 | PDO Mapping TxPDO 1 | UINT8 | RO | 0x08 (8dec) |
1A00:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x01 (Sel. Ack/End counter)) | UINT32 | RO | 0x6000:01, 1 |
1A00:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x02 (Ramp active)) | UINT32 | RO | 0x6000:02, 1 |
1A00:03 | SubIndex 003 | 3. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A00:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x07 (Error)) | UINT32 | RO | 0x6000:07, 1 |
1A00:05 | SubIndex 005 | 5. PDO Mapping entry (6 bits align) | UINT32 | RO | 0x0000:00, 6 |
1A00:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x0E (Sync error)) | UINT32 | RO | 0x6000:0E, 1 |
1A00:07 | SubIndex 007 | 7. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A00:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6000:10, 1 |
Index 1A01 PTO TxPDO-Map Status Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A01:0 | PTO TxPDO-Map Status Ch.2 | PDO Mapping TxPDO 2 | UINT8 | RO | 0x08 (8dec) |
1A01:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x01 (Sel. Ack/End counter)) | UINT32 | RO | 0x6010:01, 1 |
1A01:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x02 (Ramp active)) | UINT32 | RO | 0x6010:02, 1 |
1A01:03 | SubIndex 003 | 3. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A01:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x07 (Error)) | UINT32 | RO | 0x6010:07, 1 |
1A01:05 | SubIndex 005 | 5. PDO Mapping entry (6 bits align) | UINT32 | RO | 0x0000:00, 6 |
1A01:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x0E (Sync error)) | UINT32 | RO | 0x6010:0E, 1 |
1A01:07 | SubIndex 007 | 7. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A01:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6010:10, 1 |
Index 1A02 ENC TxPDO-Map Status compact Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A02:0 | ENC TxPDO-Map Status compact Ch.1 | PDO Mapping TxPDO 3 | UINT8 | RO | 0x09 (9dec) |
1A02:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1A02:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x03 (Set counter done)) | UINT32 | RO | 0x6020:03, 1 |
1A02:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x04 (Counter underflow)) | UINT32 | RO | 0x6020:04, 1 |
1A02:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x05 (Counter overflow)) | UINT32 | RO | 0x6020:05, 1 |
1A02:05 | SubIndex 005 | 5. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A02:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x0E (Sync error)) | UINT32 | RO | 0x6020:0E, 1 |
1A02:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x0F (TxPDO State)) | UINT32 | RO | 0x6020:0F, 1 |
1A02:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6020:10, 1 |
1A02:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x11 (Counter value)) | UINT32 | RO | 0x6020:11, 16 |
Index 1A03 ENC TxPDO-Map Status Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A03:0 | ENC TxPDO-Map Status Ch.1 | PDO Mapping TxPDO 4 | UINT8 | RO | 0x09 (9dec) |
1A03:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1A03:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x03 (Set counter done)) | UINT32 | RO | 0x6020:03, 1 |
1A03:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x04 (Counter underflow)) | UINT32 | RO | 0x6020:04, 1 |
1A03:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x05 (Counter overflow)) | UINT32 | RO | 0x6020:05, 1 |
1A03:05 | SubIndex 005 | 5. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A03:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x0E (Sync error)) | UINT32 | RO | 0x6020:0E, 1 |
1A03:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x0F (TxPDO State)) | UINT32 | RO | 0x6020:0F, 1 |
1A03:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6020:10, 1 |
1A03:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x11 (Counter value)) | UINT32 | RO | 0x6020:11, 32 |
Index 1A04 ENC TxPDO-Map Status compact Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A04:0 | ENC TxPDO-Map Status compact Ch.2 | PDO Mapping TxPDO 5 | UINT8 | RO | 0x09 (9dec) |
1A04:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1A04:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x03 (Set counter done)) | UINT32 | RO | 0x6030:03, 1 |
1A04:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x04 (Counter underflow)) | UINT32 | RO | 0x6030:04, 1 |
1A04:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x05 (Counter overflow)) | UINT32 | RO | 0x6030:05, 1 |
1A04:05 | SubIndex 005 | 5. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A04:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x0E (Sync error)) | UINT32 | RO | 0x6030:0E, 1 |
1A04:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x0F (TxPDO State)) | UINT32 | RO | 0x6030:0F, 1 |
1A04:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6030:10, 1 |
1A04:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x11 (Counter value)) | UINT32 | RO | 0x6030:11, 16 |
Index 1A05 ENC TxPDO-Map Status Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A05:0 | ENC TxPDO-Map Status Ch.2 | PDO Mapping TxPDO 6 | UINT8 | RO | 0x09 (9dec) |
1A05:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1A05:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x03 (Set counter done)) | UINT32 | RO | 0x6030:03, 1 |
1A05:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x04 (Counter underflow)) | UINT32 | RO | 0x6030:04, 1 |
1A05:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x05 (Counter overflow)) | UINT32 | RO | 0x6030:05, 1 |
1A05:05 | SubIndex 005 | 5. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A05:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x0E (Sync error)) | UINT32 | RO | 0x6030:0E, 1 |
1A05:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x0F (TxPDO State)) | UINT32 | RO | 0x6030:0F, 1 |
1A05:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6030:10, 1 |
1A05:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x11 (Counter value)) | UINT32 | RO | 0x6030:11, 32 |
Index 1C00 Sync manager type
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C00:0 | Sync manager type | Using the Sync Managers | UINT8 | RO | 0x04 (4dec) |
1C00:01 | SubIndex 001 | Sync-Manager Type Channel 1: Mailbox Write | UINT8 | RO | 0x01 (1dec) |
1C00:02 | SubIndex 002 | Sync-Manager Type Channel 2: Mailbox Read | UINT8 | RO | 0x02 (2dec) |
1C00:03 | SubIndex 003 | Sync-Manager Type Channel 3: Process Data Write (Outputs) | UINT8 | RO | 0x03 (3dec) |
1C00:04 | SubIndex 004 | Sync-Manager Type Channel 4: Process Data Read (Inputs) | UINT8 | RO | 0x04 (4dec) |
Index 1C12 RxPDO assign
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C12:0 | RxPDO assign | PDO Assign Outputs | UINT8 | RO | 0x06 (6dec) |
1C12:01 | Subindex 001 | 1. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RO | 0x1600 (5632dec) |
1C12:02 | Subindex 002 | 2. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RO | 0x1603 (5635dec) |
1C12:03 | Subindex 003 | 3. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RO | 0x1605 (5637dec) |
1C12:04 | Subindex 004 | 4. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RO | 0x1608 (5640dec) |
1C12:05 | Subindex 005 | 5. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RO | 0x160B (5643dec) |
1C12:06 | Subindex 006 | 6. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RO | 0x160D (5645dec) |
Index 1C13 TxPDO assign
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C13:0 | TxPDO assign | PDO Assign Inputs | UINT8 | RW | 0x04 (4dec) |
1C13:01 | SubIndex 001 | 1. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x1A00 (6656dec) |
1C13:02 | SubIndex 002 | 2. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x1A01 (6657dec) |
1C13:03 | SubIndex 003 | 3. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x1A03 (6659dec) |
1C13:04 | SubIndex 004 | 4. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x1A05 (6661dec) |
Index 1C32 SM output parameter
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C32:0 | SM output parameter | Synchronization parameters for the outputs | UINT8 | RO | 0x20 (32dec) |
1C32:01 | Sync mode | Current synchronization mode:
| UINT16 | RW | 0x0001 (1dec) |
1C32:02 | Cycle time | Cycle time (in ns):
| UINT32 | RW | 0x000F4240 (1000000dec) |
1C32:03 | Shift time | Time between SYNC0 event and output of the outputs (in ns, DC mode only) | UINT32 | RO | 0x00000000 (0dec) |
1C32:04 | Sync modes supported | Supported synchronization modes:
| UINT16 | RO | 0x4C07 (19463dec) |
1C32:05 | Minimum cycle time | Minimum cycle time (in ns) | UINT32 | RO | 0x000186A0 (100000dec) |
1C32:06 | Calc and copy time | Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only) | UINT32 | RO | 0x00000000 (0dec) |
1C32:06 | Minimum delay time | Minimum time between SYNC1 event and output of the outputs (in ns) | UINT32 | RO | 0x00000000 (0dec) |
1C32:08 | Command |
The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09 are updated with the maximum measured values. | UINT16 | RW | 0x0000 (0dec) |
1C32:09 | Maximum delay time | Time between SYNC1 event and output of the outputs (in ns, DC mode only) | UINT32 | RO | 0x00000000 (0dec) |
1C32:0B | SM event missed counter | Number of missed SM events in OPERATIONAL (DC mode only) | UINT16 | RO | 0x0000 (0dec) |
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 (0dec) |
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 (0dec) |
1C32:20 | Sync error | The synchronization was not correct in the last cycle (outputs were output too late; DC mode only). | BOOLEAN | RO | 0x00 (0dec) |
Index 1C33 SM input parameter
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C33:0 | SM input parameter | Synchronization parameters for the inputs | UINT8 | RO | 0x20 (32dec) |
1C33:01 | Sync mode | Current synchronization mode:
| UINT16 | RW | 0x0022 (34dec) |
1C33:02 | Cycle time | Cycle time (in ns):
| UINT32 | RW | 0x000F4240 (1000000dec) |
1C33:03 | Shift time | Time between SYNC0 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C33:04 | Sync modes supported | Supported synchronization modes:
| UINT16 | RO | 0x4C07 (19463dec) |
1C33:05 | Minimum cycle time | Minimum cycle time (in ns) | UINT32 | RO | 0x000186A0 (100000dec) |
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 (0dec) |
1C33:07 | Minimum delay time | Min. time between SYNC1 event and the reading of the inputs (in ns, DC mode only) | UINT32 | RO | 0x00000000 (0dec) |
1C33:08 | Command | With this entry the real required process data provision time can be measured.
The entries 0x1C33:03, 0x1C33:06, 1C33:09 are updated with the maximum measured values. | UINT16 | RW | 0x0000 (0dec) |
1C33:09 | Maximum delay time | Time between SYNC1 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C33:0B | SM event missed counter | Number of missed SM events in OPERATIONAL (DC mode only) | UINT16 | RO | 0x0000 (0dec) |
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 (0dec) |
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 (0dec) |
1C33:20 | Sync error | The synchronization was not correct in the last cycle (outputs were output too late; DC mode only) | BOOLEAN | RO | 0x00 (0dec) |