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 | EJ2521-0224 |
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 | 0x09D92852 (165226578dec) |
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 1401 PTO RxPDO-Par Target compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1401:0 | PTO RxPDO-Par Target compact | 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 | 02 16 |
Index 1402 PTO RxPDO-Par Target
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1402:0 | PTO RxPDO-Par Target | 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 ENC RxPDO-Par Control compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1403:0 | ENC RxPDO-Par Control compact | 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 | 02 16 |
Index 1404 ENC RxPDO-Par Control
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1404:0 | ENC RxPDO-Par Control | 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 | 01 16 |
Index 1405 PLS RxPDO-Par Control compact Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1405:0 | PLS RxPDO-Par Control compact Ch.1 | 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 | 02 16 |
Index 1406 PLS RxPDO-Par Control Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1406:0 | PLS RxPDO-Par Control Ch.1 | 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 | 01 16 |
Index 1407 PLS RxPDO-Par Control compact Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1407:0 | PLS RxPDO-Par Control 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 | 02 16 |
Index 1408 PLS RxPDO-Par Control Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1408:0 | PLS RxPDO-Par Control Ch.2 | PDO Parameter RxPDO | 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 | 01 16 |
Index 1600 PTO RxPDO-Map Control
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1600:0 | PTO RxPDO-Map Control | PDO Mapping RxPDO 1 | UINT8 | RO | 0x06 (6dec) |
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), entry 0x02 (Disable ramp)) | UINT32 | RO | 0x7000:02, 1 |
1600:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7000 (PTO Outputs), entry 0x03 (Go counter)) | 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 |
1600:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7000 (PTO Outputs), entry 0x11 (Frequency value)) | UINT32 | RO | 0x7000:11, 16 |
Index 1601 PTO RxPDO-Map Target compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1601:0 | PTO RxPDO-Map Target compact | PDO Mapping RxPDO 2 | UINT8 | RO | 0x01 (1dec) |
1601:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7000 (PTO Outputs), entry 0x12 (Target counter value)) | UINT32 | RO | 0x7000:12, 16 |
Index 1602 PTO RxPDO-Map Target
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1602:0 | PTO RxPDO-Map Target | PDO Mapping RxPDO 3 | UINT8 | RO | 0x01 (1dec) |
1602:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7000 (PTO Outputs), entry 0x12 (Target counter value)) | UINT32 | RO | 0x7000:12, 32 |
Index 1603 ENC RxPDO-Map Control compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1603:0 | ENC RxPDO-Map Control compact | PDO Mapping RxPDO 4 | UINT8 | RO | 0x07 (7dec) |
1603:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1603:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x02 (Enable latch extern on positive edge)) | UINT32 | RO | 0x7010:02, 1 |
1603:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x03 (Set counter)) | UINT32 | RO | 0x7010:03, 1 |
1603:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x04 (Enable latch extern on negative edge)) | UINT32 | RO | 0x7010:04, 1 |
1603:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1603:06 | SubIndex 006 | 6. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1603:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x11 (Set counter value)) | UINT32 | RO | 0x7010:11, 16 |
Index 1604 ENC RxPDO-Map Control
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1604:0 | ENC RxPDO-Map Control | PDO Mapping RxPDO 5 | UINT8 | RO | 0x07 (7dec) |
1604:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1604:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x02 (Enable latch extern on positive edge)) | UINT32 | RO | 0x7010:02, 1 |
1604:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x03 (Set counter)) | UINT32 | RO | 0x7010:03, 1 |
1604:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x04 (Enable latch extern on negative edge)) | UINT32 | RO | 0x7010:04, 1 |
1604:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1604:06 | SubIndex 006 | 6. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1604:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x11 (Set counter value)) | UINT32 | RO | 0x7010:11, 32 |
Index 1605 PLS RxPDO-Map Control compact Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1605:0 | PLS RxPDO-Map Control compact Ch.1 | PDO Mapping RxPDO 6 | UINT8 | RO | 0x07 (7dec) |
1605:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7020 (PLS Outputs), entry 0x01 (Enable PLS)) | UINT32 | RO | 0x7020:01, 1 |
1605:02 | SubIndex 002 | 2. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1605:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7020 (PLS Outputs), entry 0x04 (Output)) | UINT32 | RO | 0x7020:04, 1 |
1605:04 | SubIndex 004 | 4. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1605:05 | SubIndex 005 | 5. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1605:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7020 (PLS Outputs), entry 0x11 (Switch on value)) | UINT32 | RO | 0x7020:11, 16 |
1605:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7020 (PLS Outputs), entry 0x12 (Switch off value)) | UINT32 | RO | 0x7020:12, 16 |
Index 1606 PLS RxPDO-Map Control Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1606:0 | PLS RxPDO-Map Control Ch.1 | PDO Mapping RxPDO 7 | UINT8 | RO | 0x07 (7dec) |
1606:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7020 (PLS Outputs), entry 0x01 (Enable PLS)) | UINT32 | RO | 0x7020:01, 1 |
1606:02 | SubIndex 002 | 2. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1606:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7020 (PLS Outputs), entry 0x04 (Output)) | UINT32 | RO | 0x7020:04, 1 |
1606:04 | SubIndex 004 | 4. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1606:05 | SubIndex 005 | 5. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1606:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7020 (PLS Outputs), entry 0x11 (Switch on value)) | UINT32 | RO | 0x7020:11, 32 |
1606:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7020 (PLS Outputs), entry 0x12 (Switch off value)) | UINT32 | RO | 0x7020:12, 32 |
Index 1607 PLS RxPDO-Map Control compact Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1607:0 | PLS RxPDO-Map Control compact Ch.2 | PDO Mapping RxPDO 8 | UINT8 | RO | 0x07 (7dec) |
1607:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7030 (PLS Outputs), entry 0x01 (Enable PLS)) | UINT32 | RO | 0x7030:01, 1 |
1607:02 | SubIndex 002 | 2. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1607:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7030 (PLS Outputs), entry 0x04 (Output)) | UINT32 | RO | 0x7030:04, 1 |
1607:04 | SubIndex 004 | 4. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1607:05 | SubIndex 005 | 5. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1607:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7030 (PLS Outputs), entry 0x11 (Switch on value)) | UINT32 | RO | 0x7030:11, 16 |
1607:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7030 (PLS Outputs), entry 0x12 (Switch off value)) | UINT32 | RO | 0x7030:12, 16 |
Index 1608 PLS RxPDO-Map Control Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1608:0 | PLS RxPDO-Map Control Ch.2 | PDO Mapping RxPDO 9 | UINT8 | RO | 0x07 (7dec) |
1608:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7030 (PLS Outputs), entry 0x01 (Enable PLS)) | UINT32 | RO | 0x7030:01, 1 |
1608:02 | SubIndex 002 | 2. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1608:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7030 (PLS Outputs), entry 0x04 (Output)) | UINT32 | RO | 0x7030:04, 1 |
1608:04 | SubIndex 004 | 4. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1608:05 | SubIndex 005 | 5. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1608:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7030 (PLS Outputs), entry 0x11 (Switch on value)) | UINT32 | RO | 0x7030:11, 32 |
1608:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7030 (PLS Outputs), entry 0x12 (Switch off value)) | UINT32 | RO | 0x7030:12, 32 |
Index 1801 ENC TxPDO-Par Status compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1801:0 | ENC TxPDO-Par Status compact | PDO Mapping TxPDO 1 | UINT8 | RO | 0x06 (6dec) |
1801:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1. | OCTET-STRING[2]] | RO | 02 1A |
Index 1802 ENC TxPDO-Par Status
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1802:0 | ENC TxPDO-Par Status | PDO Mapping TxPDO 2 | UINT8 | RO | 0x06 (6dec) |
1802:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2. | OCTET-STRING[2]] | RO | 01 1A |
Index 0x1A00 PTO TxPDO-Map Status
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A00:0 | PTO TxPDO-Map Status | PDO Mapping TxPDO 1 | UINT8 | RO | 0x08 (8dec) |
1A00:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (PTO Inputs), entry 0x01 (Sel. Ack/End counter)) | UINT32 | RO | 0x6000:01, 1 |
1A00:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (PTO Inputs), 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), 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), 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), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6000:10, 1 |
Index 0x1A01 ENC TxPDO-Map Status compact
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A01:0 | ENC TxPDO-Map Status compact | PDO Mapping TxPDO 2 | UINT8 | RO | 0x0D (13dec) |
1A01:01 | SubIndex 001 | 1. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A01:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x02 (Latch extern valid)) | UINT32 | RO | 0x6010:02, 1 |
1A01:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x03 (Set counter done)) | UINT32 | RO | 0x6010:03, 1 |
1A01:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x04 (Counter underflow)) | UINT32 | RO | 0x6010:04, 1 |
1A01:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x05 (Counter overflow)) | UINT32 | RO | 0x6010:05, 1 |
1A01:06 | SubIndex 006 | 6. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A01:07 | SubIndex 007 | 7. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A01:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0D (Status of extern latch)) | UINT32 | RO | 0x6010:0D, 1 |
1A01:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0E (Sync error)) | UINT32 | RO | 0x6010:0E, 1 |
1A01:0A | SubIndex 010 | 10. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A01:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6010:10, 1 |
1A01:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x11 (Counter value)) | UINT32 | RO | 0x6010:11, 16 |
1A01:0D | SubIndex 013 | 13. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x12 (Latch value)) | UINT32 | RO | 0x6010:12, 16 |
Index 0x1A02 ENC TxPDO-Map Status
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A02:0 | ENC TxPDO-Map Status | PDO Mapping TxPDO 3 | UINT8 | RO | 0x0D (13dec) |
1A02:01 | SubIndex 001 | 1. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A02:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x02 (Latch extern valid)) | UINT32 | RO | 0x6010:02, 1 |
1A02:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x03 (Set counter done)) | UINT32 | RO | 0x6010:03, 1 |
1A02:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x04 (Counter underflow)) | UINT32 | RO | 0x6010:04, 1 |
1A02:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x05 (Counter overflow)) | UINT32 | RO | 0x6010:05, 1 |
1A02:06 | SubIndex 006 | 6. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A02:07 | SubIndex 007 | 7. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A02:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0D (Status of extern latch)) | UINT32 | RO | 0x6010:0D, 1 |
1A02:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0E (Sync error)) | UINT32 | RO | 0x6010:0E, 1 |
1A02:0A | SubIndex 010 | 10. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A02:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6010:10, 1 |
1A02:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x11 (Counter value)) | UINT32 | RO | 0x6010:11, 32 |
1A02:0D | SubIndex 013 | 13. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x12 (Latch value)) | UINT32 | RO | 0x6010:12, 32 |
Index 1A03 PLS TxPDO-Map Status Ch.1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A03:0 | PLS TxPDO-Map Status Ch.1 | PDO Mapping TxPDO 4 | UINT8 | RO | 0x07 (7dec) |
1A03:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6020 (PLS Inputs), entry 0x01 (PLS enabled)) | UINT32 | RO | 0x6020:01, 1 |
1A03:02 | SubIndex 002 | 2. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1A03:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6020 (PLS Inputs), entry 0x04 (Status of output)) | UINT32 | RO | 0x6020:04, 1 |
1A03:04 | SubIndex 004 | 4. PDO Mapping entry (9 bits align) | UINT32 | RO | 0x0000:00, 9 |
1A03:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6020 (PLS Inputs), entry 0x0E (Sync error)) | UINT32 | RO | 0x6020:0E, 1 |
1A03:06 | SubIndex 006 | 6. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1A03:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6020 (PLS Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6020:10, 1 |
Index 0x1A04 PLS TxPDO-Map Status Ch.2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A04:0 | PLS TxPDO-Map Status Ch.2 | PDO Mapping TxPDO 4 | UINT8 | RO | 0x07 (7dec) |
1A04:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6030 (PLS Inputs), entry 0x01 (PLS enabled)) | UINT32 | RO | 0x6030:01, 1 |
1A04:02 | SubIndex 002 | 2. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1A04:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6030 (PLS Inputs), entry 0x04 (Status of output)) | UINT32 | RO | 0x6030:04, 1 |
1A04:04 | SubIndex 004 | 4. PDO Mapping entry (9 bits align) | UINT32 | RO | 0x0000:00, 9 |
1A04:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6030 (PLS Inputs), entry 0x0E (Sync error)) | UINT32 | RO | 0x6030:0E, 1 |
1A04:06 | SubIndex 006 | 6. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1A04:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6030 (PLS Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6030:10, 1 |
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 | 0x02 (2dec) |
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 | 0x1601 (5633dec) |
1C12:03 | Subindex 003 | 3. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RO | 0x1603 (5635dec) |
1C12:04 | Subindex 004 | 4. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RO | 0x1605 (5637dec) |
1C12:05 | Subindex 005 | 5. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RO | 0x1607 (5639dec) |
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 | 0x1A04 (6660dec) |
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) |