Standard objects

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

EJ5101

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

0x13ED2852 (334309458dec)

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 (00000000dec)

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 RxPDO-Par outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1400:0

RxPDO-Par outputs

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 02 16 03 16

Index 1401 RxPDO-Par outputs word-aligned

Index (hex)

Name

Meaning

Data type

Flags

Default

1401:0

RxPDO-Par outputs word-aligned

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[6]

RO

00 16 02 16 03 16

Index 1402 ENC RxPDO-Par Control compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1402:0

ENC RxPDO-Par Control compact

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[6]

RO

03 16 00 16 01 16

Index 1403 ENC RxPDO-Par Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1403:0

ENC RxPDO-Par Control

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[6]

RO

02 16 00 16 01 16

Index 1600 RxPDO-Map Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

RxPDO-Map Outputs

PDO Mapping RxPDO 1

UINT8

RO

0x02 (2dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (Outputs), entry 0x01 (Ctrl))

UINT32

RO

0x7000:01, 8

1600:02

SubIndex 002

2. PDO mapping entry (object 0x7000 (outputs), entry 0x02 (value))

UINT32

RO

0x7000:02, 16

Index 1601 RxPDO-Map outputs word-aligned

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

RxPDO-Map outputs word-aligned

PDO Mapping RxPDO 2

UINT8

RO

0x03 (3dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (Outputs), entry 0x01 (Ctrl))

UINT32

RO

0x7000:01, 8

1601:02

SubIndex 002

2. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1601:03

SubIndex 003

3. PDO mapping entry (object 0x7000 (outputs), entry 0x02 (value))

UINT32

RO

0x7000:02, 16

Index 1602 ENC RxPDO-Map Control compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

ENC RxPDO-Map Control compact

PDO Mapping RxPDO 3

UINT8

RO

0x07 (7dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x01 (Enable latch C))

UINT32

RO

0x7010:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x02 (Enable latch extern on positive edge))

UINT32

RO

0x7010:02, 1

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x03 (Set counter))

UINT32

RO

0x7010:03, 1

1602:04

SubIndex 004

4. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x04 (Enable latch extern on negative edge))

UINT32

RO

0x7010:04, 1

1602:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1602:06

SubIndex 006

6. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1602:07

SubIndex 007

7. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x11 (Set counter value))

UINT32

RO

0x7010:11, 16

Index 1603 ENC RxPDO-Map Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1603:0

ENC RxPDO-Map Control

PDO Mapping RxPDO 4

UINT8

RO

0x07 (7dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (ENC Outputs), entry 0x01 (Enable latch C))

UINT32

RO

0x7010:01, 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, 32

Index 1800 TxPDO-Par inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1800:0

TxPDO-Par inputs

PDO parameter TxPDO 1

UINT8

RO

0x06 (6dec)

1800:06

Exclude TxPDOs

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

OCTET-STRING[14]

RO

01 1A 03 1A 04 1A 05 1A 06 1A 07 1A 08 1A

Index 1801 TxPDO-Par inputs word-aligned

Index (hex)

Name

Meaning

Data type

Flags

Default

1801:0

TxPDO-Par inputs word-aligned

PDO parameter TxPDO 2

UINT8

RO

0x06 (6dec)

1801:06

Exclude TxPDOs

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

OCTET-STRING[14]

RO

00 1A 03 1A 04 1A 05 1A 06 1A 07 1A 08 1A

Index 1802 TxPDO-Par Inputs optional

Index (hex)

Name

Meaning

Data type

Flags

Default

1802:0

TxPDO-Par Inputs optional

PDO parameter 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[14]

RO

03 1A 04 1A 05 1A 06 1A 07 1A 08 1A 00 00

Index 1803 ENC TxPDO-Par Status compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1803:0

ENC TxPDO-Par Status compact

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[14]

RO

04 1A 00 1A 01 1A 02 1A 00 00 00 00 00 00

Index 1804 ENC TxPDO-Par Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1804:0

ENC TxPDO-Par Status

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[14]

RO

03 1A 00 1A 01 1A 02 1A 00 00 00 00 00 00

Index 1805 ENC TxPDO-Par Frequency

Index (hex)

Name

Meaning

Data type

Flags

Default

1805:0

ENC TxPDO-Par Frequency

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[14]

RO

00 1A 01 1A 02 1A 06 1A 00 00 00 00 00 00

Index 1806 ENC TxPDO-Par Period

Index (hex)

Name

Meaning

Data type

Flags

Default

1806:0

ENC TxPDO-Par Period

PDO parameter TxPDO 7

UINT8

RO

0x06 (6dec)

1806:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 7

OCTET-STRING[14]

RO

00 1A 01 1A 02 1A 05 1A 00 00 00 00 00 00

Index 1807 ENC TxPDO-Par Timest.

Index (hex)

Name

Meaning

Data type

Flags

Default

1807:0

ENC TxPDO-Par Timest.

PDO parameter TxPDO 8

UINT8

RO

0x06 (6dec)

1807:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 8

OCTET-STRING[14]

RO

08 1A 00 1A 01 1A 02 1A 00 00 00 00 00 00

Index 1808 ENC TxPDO-Par Timest. compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1808:0

ENC TxPDO-Par Timest. compact

PDO parameter TxPDO 9

UINT8

RO

0x06 (6dec)

1808:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 9

OCTET-STRING[14]

RO

07 1A 00 1A 01 1A 02 1A 00 00 00 00 00 00

Index 1A00 TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

TxPDO-Map Inputs

PDO Mapping TxPDO 1

UINT8

RO

0x03 (3dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (Inputs), entry 0x01 (Status))

UINT32

RO

0x6000:01, 8

1A00:02

SubIndex 002

2. PDO mapping entry (object 0x6000 (inputs), entry 0x02 (value))

UINT32

RO

0x6000:02, 16

1A00:03

SubIndex 003

3. PDO mapping entry (object 0x6000 (inputs), entry 0x03 (latch))

UINT32

RO

0x6000:03, 16

Index 1A01 TxPDO-Map inputs word-aligned

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

TxPDO-Map Inputs Word-Aligned

PDO Mapping TxPDO 2

UINT8

RO

0x04 (4dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (Inputs), entry 0x01 (Status))

UINT32

RO

0x6000:01, 8

1A01:02

SubIndex 002

2. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A01:03

SubIndex 003

3. PDO mapping entry (object 0x6000 (inputs), entry 0x02 (value))

UINT32

RO

0x6000:02, 16

1A01:04

SubIndex 004

4. PDO mapping entry (object 0x6000 (inputs), entry 0x03 (latch))

UINT32

RO

0x6000:03, 16

Index 1A02 TxPDO-Map Inputs optional

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

TxPDO-Map Inputs optional

PDO Mapping TxPDO 3

UINT8

RO

0x03 (3dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (Inputs), entry 0x04 (Frequency))

UINT32

RO

0x6000:04, 32

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (Inputs), entry 0x05 (Period))

UINT32

RO

0x6000:05, 16

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (Inputs), entry 0x06 (Window))

UINT32

RO

0x6000:06, 16

Index 1A03 ENC TxPDO-Map Status compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

ENC TxPDO-Map Status compact

PDO Mapping TxPDO 4

UINT8

RO

0x12 (18dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x01 (Latch C valid))

UINT32

RO

0x6010:01, 1

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x02 (Latch extern valid))

UINT32

RO

0x6010:02, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x03 (Set counter done))

UINT32

RO

0x6010:03, 1

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x04 (Counter underflow))

UINT32

RO

0x6010:04, 1

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x05 (Counter overflow))

UINT32

RO

0x6010:05, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x06 (input status))

UINT32

RO

0x6010:06, 1

1A03:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x07 (Open circuit))

UINT32

RO

0x6010:07, 1

1A03:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x08 (Extrapolation stall))

UINT32

RO

0x6010:08, 1

1A03:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x09 (Status of input A))

UINT32

RO

0x6010:09, 1

1A03:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0A (Status of input B))

UINT32

RO

0x6010:0A, 1

1A03:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0B (Status of input C))

UINT32

RO

0x6010:0B, 1

1A03:0C

SubIndex 012

12. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0C (Status of input gate))

UINT32

RO

0x6010:0C, 1

1A03:0D

SubIndex 013

13. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0D (Status of extern latch))

UINT32

RO

0x6010:0D, 1

1A03:0E

SubIndex 014

14. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0E (Sync error))

UINT32

RO

0x6010:0E, 1

1A03:0F

SubIndex 015

15. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6010:0F, 1

1A03:10

SubIndex 016

16. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6010:10, 1

1A03:11

SubIndex 017

17. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6010:11, 16

1A03:12

SubIndex 018

18. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x12 (Latch value))

UINT32

RO

0x6010:12, 16

Index 1A04 ENC TxPDO-Map Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

ENC TxPDO-Map Status

PDO Mapping TxPDO 5

UINT8

RO

0x12 (18dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x01 (Latch C valid))

UINT32

RO

0x6010:01, 1

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x02 (Latch extern valid))

UINT32

RO

0x6010:02, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x03 (Set counter done))

UINT32

RO

0x6010:03, 1

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x04 (Counter underflow))

UINT32

RO

0x6010:04, 1

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x05 (Counter overflow))

UINT32

RO

0x6010:05, 1

1A04:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x06 (input status))

UINT32

RO

0x6010:06, 1

1A04:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x07 (Open circuit))

UINT32

RO

0x6010:07, 1

1A04:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x08 (Extrapolation stall))

UINT32

RO

0x6010:08, 1

1A04:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x09 (Status of input A))

UINT32

RO

0x6010:09, 1

1A04:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0A (Status of input B))

UINT32

RO

0x6010:0A, 1

1A04:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0B (Status of input C))

UINT32

RO

0x6010:0B, 1

1A04:0C

SubIndex 012

12. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0C (Status of input gate))

UINT32

RO

0x6010:0C, 1

1A04:0D

SubIndex 013

13. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0D (Status of extern latch))

UINT32

RO

0x6010:0D, 1

1A04:0E

SubIndex 014

14. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0E (Sync error))

UINT32

RO

0x6010:0E, 1

1A04:0F

SubIndex 015

15. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6010:0F, 1

1A04:10

SubIndex 016

16. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6010:10, 1

1A04:11

SubIndex 017

17. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6010:11, 32

1A04:12

SubIndex 018

18. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x12 (Latch value))

UINT32

RO

0x6010:12, 32

Index 1A05 ENC TxPDO-Map Frequency

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

ENC TxPDO-Map Frequency

PDO Mapping TxPDO 6

UINT8

RO

0x01 (1dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x13 (Frequency value))

UINT32

RO

0x6010:13, 32

Index 1A06 ENC TxPDO-Map Period

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

ENC TxPDO-Map Period

PDO Mapping TxPDO 7

UINT8

RO

0x01 (1dec)

1A06:01

SubIndex 001

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

UINT32

RO

0x6010:14, 32

Index 1A07 ENC TxPDO-Map Timest.

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

ENC TxPDO-Map Timest.

PDO Mapping TxPDO 8

UINT8

RO

0x01 (1dec)

1A07:01

SubIndex 001

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

UINT32

RO

0x6010:16, 64

Index 1A08 ENC TxPDO-Map Timest. compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

ENC TxPDO-Map Timest. compact

PDO Mapping TxPDO 9

UINT8

RO

0x01 (1dec)

1A08:01

SubIndex 001

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

UINT32

RO

0x6010:16, 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

RW

0x01 (1dec)

1C12:01

SubIndex 001

1st allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1600 (5632dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x01 (1dec)

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

0x0000 (0dec)

1C13:03

SubIndex 003

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

UINT16

RW

0x0000 (0dec)

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:

  • 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 (1dec)

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 (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:

  • 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

0xC807 (51207dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000103C4 (66500dec)

1C32:06

Calc and copy time

Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C32:07

Minimum delay time

UINT32

RO

0x00000000 (0dec)

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 (0dec)

1C32:09

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:

  • 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 (34dec)

1C33:02

Cycle time

as 0x1C32:02

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:

  • 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

0xC807 (51207dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x000103C4 (66500dec)

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)

1C33:08

Command

as 0x1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

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

as 0x1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 0x1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 0x1C32:32

BOOLEAN

RO

0x00 (0dec)

Index F000 Modular device profile

Index (hex)

Name

Meaning

Data type

Flags

Default

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0002 (2dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index (hex)

Name

Meaning

Data type

Flags

Default

F010:0

Module list

Maximum subindex

UINT8

RW

0x02 (2dec)

F010:01

SubIndex 001

reserved

UINT32

RW

0x000001FE (510dec)

F010:02

SubIndex 002

reserved

UINT32

RW

0x000001FF (511dec)