Standard objects
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 | EJ7211-0010 |
Index 1009 Hardware version
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1009:0 | Hardware version | Hardware version of the EtherCAT slave | STRING | RO |
|
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 | 0x1C2B2852 (472590418dec) |
1018:03 | Revision | Revision number of the EtherCAT slave; the Low Word (bit 0-15) indicates the special device 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 10E2 Manufacturer-specific Identification Code
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
10E2:0 | Manufacturer-specific identification code |
| UINT8 | RO | 0x01 (1dec) |
10E2:01 | SubIndex 001 |
| STRING | RO |
|
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 1430 DMC RxPDO-Par Outputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1430:0 | DMC RxPDO-Par Outputs | PDO Parameter RxPDO 10 | UINT8 | RO | 0x06 (6dec) |
1430:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 10 | OCTET-STRING[6] | RO | 00 16 |
Index 1431 DMC RxPDO-Par Outputs 32-bit
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1431:0 | DMC RxPDO-Par Outputs 32 Bit | PDO Parameter RxPDO 11 | UINT8 | RO | 0x06 (6dec) |
1431:06 | Exclude RxPDOs | Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 11 | OCTET-STRING[6] | RO | 00 16 |
Index 1600 DRV RxPDO-map control word
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1600:0 | DRV RxPDO-Map Controlword | PDO Mapping RxPDO 1 | UINT8 | RO | 0x01 (1dec) |
1600:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x01 (Controlword)) | UINT32 | RO | 0x7010:01, 16 |
Index 1601 DRV RxPDO-map target velocity
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1601:0 | DRV RxPDO-Map Target velocity | PDO Mapping RxPDO 2 | UINT8 | RO | 0x01 (1dec) |
1601:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x06 (Target velocity)) | UINT32 | RO | 0x7010:06, 32 |
Index 1602 DRV RxPDO-Map Target torque
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1602:0 | DRV RxPDO-Map Target torque | PDO Mapping RxPDO 3 | UINT8 | RO | 0x01 (1dec) |
1602:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x09 (Target torque)) | UINT32 | RO | 0x7010:09, 16 |
Index 1603 DRV RxPDO-map commutation angle
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1603:0 | DRV RxPDO-Map Commutation angle | PDO Mapping RxPDO 4 | UINT8 | RO | 0x01 (1dec) |
1603:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x0E (Commutation angle)) | UINT32 | RO | 0x7010:0E, 16 |
Index 1604 DRV RxPDO-map torque limitation
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1604:0 | DRV RxPDO-Map Torque limitation | PDO Mapping RxPDO 5 | UINT8 | RO | 0x01 (1dec) |
1604:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x0B (Torque limitation)) | UINT32 | RO | 0x7010:0B, 16 |
Index 1605 DRV RxPDO-map torque offset
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1605:0 | DRV RxPDO-Map Torque offset | PDO Mapping RxPDO 6 | UINT8 | RO | 0x01 (1dec) |
1605:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x0A (Torque offset)) | UINT32 | RO | 0x7010:0A, 16 |
Index 1606 DRV RxPDO-Map Target position
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1606:0 | DRV RxPDO-Map Target position | PDO Mapping RxPDO 7 | UINT8 | RO | 0x01 (1dec) |
1606:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x05 (Target position)) | UINT32 | RO | 0x7010:05, 32 |
Index 1607 FB RxPDO-Map Touch probe control
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1607:0 | FB RxPDO-Map Touch probe control | PDO Mapping RxPDO 8 | UINT8 | RO | 0x0C (12dec) |
1607:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x01 (TP1 Enable)) | UINT32 | RO | 0x7001:01, 1 |
1607:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x02 (TP1 Continous)) | UINT32 | RO | 0x7001:02, 1 |
1607:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x03 (TP1 Trigger mode)) | UINT32 | RO | 0x7001:03, 2 |
1607:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x05 (TP1 Enable pos edge)) | UINT32 | RO | 0x7001:05, 1 |
1607:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x06 (TP1 Enable neg edge)) | UINT32 | RO | 0x7001:06, 1 |
1607:06 | SubIndex 006 | 6. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1607:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x09 (TP2 Enable)) | UINT32 | RO | 0x7001:09, 1 |
1607:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x0A (TP2 Continous)) | UINT32 | RO | 0x7001:0A, 1 |
1607:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x0B (TP2 Trigger mode)) | UINT32 | RO | 0x7001:0B, 2 |
1607:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x0D (TP2 Enable pos edge)) | UINT32 | RO | 0x7001:0D, 1 |
1607:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x0E (TP2 Enable neg edge)) | UINT32 | RO | 0x7001:0E, 1 |
1607:0C | SubIndex 012 | 12. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
Index 1608 DRV RxPDO-Map Modes of operation
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1608:0 | DRV RxPDO-Map Modes of operation | PDO Mapping RxPDO 9 | UINT8 | RO | 0x01 (1dec) |
1608:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x03 (Modes of operation)) | UINT32 | RO | 0x7010:03, 8 |
Index 1630 DMC RxPDO-Map Outputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1630:0 | DMC RxPDO-Map Outputs | PDO Mapping RxPDO 10 | UINT8 | RO | 0x12 (18dec) |
1630:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1630:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x02 (DMC_FeedbackControl __Enable latch extern on positive edge)) | UINT32 | RO | 0x7030:02, 1 |
1630:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x03 (DMC_FeedbackControl __Set counter)) | UINT32 | RO | 0x7030:03, 1 |
1630:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x04 (DMC_FeedbackControl __Enable latch extern on negative edge)) | UINT32 | RO | 0x7030:04, 1 |
1630:05 | SubIndex 005 | 5. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x0000:00, 12 |
1630:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x11 (DMC_DriveControl __Enable)) | UINT32 | RO | 0x7030:11, 1 |
1630:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x12 (DMC_DriveControl __Reset)) | UINT32 | RO | 0x7030:12, 1 |
1630:08 | SubIndex 008 | 8. PDO Mapping entry (14 bits align) | UINT32 | RO | 0x0000:00, 14 |
1630:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x21 (DMC_PositionControl __Execute)) | UINT32 | RO | 0x7030:21, 1 |
1630:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x22 (DMC_PositionControl __Emergency stop)) | UINT32 | RO | 0x7030:22, 1 |
1630:0B | SubIndex 011 | 11. PDO Mapping entry (14 bits align) | UINT32 | RO | 0x0000:00, 14 |
1630:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x31 (DMC__Set counter value)) | UINT32 | RO | 0x7030:31, 64 |
1630:0D | SubIndex 013 | 13. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x32 (DMC__Target position)) | UINT32 | RO | 0x7030:32, 64 |
1630:0E | SubIndex 014 | 14. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x33 (DMC__Target velocity)) | UINT32 | RO | 0x7030:33, 16 |
1630:0F | SubIndex 015 | 15. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x34 (DMC__Start types)) | UINT32 | RO | 0x7030:34, 16 |
1630:10 | SubIndex 016 | 16. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x35 (DMC__Target acceleration)) | UINT32 | RO | 0x7030:35, 16 |
1630:11 | SubIndex 017 | 17. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x36 (DMC__Target deceleration)) | UINT32 | RO | 0x7030:36, 16 |
1630:12 | SubIndex 018 | 18. PDO Mapping entry (80 bits align) | UINT32 | RO | 0x0000:00, 80 |
Index 1631 DMC RxPDO-Map Outputs 32-bit
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1631:0 | DMC RxPDO-Map Outputs 32 | PDO Mapping RxPDO 11 | UINT8 | RO | 0x14 (20dec) |
1631:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1631:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x02 (DMC_FeedbackControl __Enable latch extern on positive edge)) | UINT32 | RO | 0x7030:02, 1 |
1631:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x03 (DMC_FeedbackControl __Set counter)) | UINT32 | RO | 0x7030:03, 1 |
1631:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x04 (DMC_FeedbackControl __Enable latch extern on negative edge)) | UINT32 | RO | 0x7030:04, 1 |
1631:05 | SubIndex 005 | 5. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x0000:00, 12 |
1631:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x11 (DMC_DriveControl __Enable)) | UINT32 | RO | 0x7030:11, 1 |
1631:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x12 (DMC_DriveControl __Reset)) | UINT32 | RO | 0x7030:12, 1 |
1631:08 | SubIndex 008 | 8. PDO Mapping entry (14 bits align) | UINT32 | RO | 0x0000:00, 14 |
1631:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x21 (DMC_PositionControl __Execute)) | UINT32 | RO | 0x7030:21, 1 |
1631:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x22 (DMC_PositionControl __Emergency stop)) | UINT32 | RO | 0x7030:22, 1 |
1631:0B | SubIndex 011 | 11. PDO Mapping entry (14 bits align) | UINT32 | RO | 0x0000:00, 14 |
1631:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x31 (DMC__Set counter value)) | UINT32 | RO | 0x7030:31, 32 |
1631:0D | SubIndex 013 | 13. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1631:0E | SubIndex 014 | 14. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x32 (DMC__Target position)) | UINT32 | RO | 0x7030:32, 16 |
1631:0F | SubIndex 015 | 15. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1631:10 | SubIndex 016 | 16. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x33 (DMC__Target velocity)) | UINT32 | RO | 0x7030:33, 16 |
1631:11 | SubIndex 017 | 17. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x34 (DMC__Start types)) | UINT32 | RO | 0x7030:34, 16 |
1631:12 | SubIndex 018 | 18. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x35 (DMC__Target acceleration)) | UINT32 | RO | 0x7030:35, 16 |
1631:13 | SubIndex 019 | 19. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x36 (DMC__Target deceleration)) | UINT32 | RO | 0x7030:36, 16 |
1631:14 | SubIndex 020 | 20. PDO Mapping entry (80 bits align) | UINT32 | RO | 0x0000:00, 80 |
Index 1830 DMC TxPDO-Par Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1830:0 | DMC TxPDO-Par Inputs | PDO Parameter TxPDO 15 | UINT8 | RO | 0x06 (6dec) |
1830:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 15 | OCTET-STRING[32] | RO | 00 1A |
Index 1831 DMC TxPDO-Par Inputs 32-bit
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1831:0 | DMC TxPDO-Par Inputs 32 Bit | PDO Parameter TxPDO 16 | UINT8 | RO | 0x06 (6dec) |
1831:06 | Exclude TxPDOs | Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 16 | OCTET-STRING[32] | RO | 00 1A |
Index 1A00 FB TxPDO-Map Position
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A00:0 | FB TxPDO-Map Position | PDO Mapping TxPDO 1 | UINT8 | RO | 0x01 (1dec) |
1A00:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position)) | UINT32 | RO | 0x6000:11, 32 |
Index 1A01 DRV TxPDO-Map Statusword
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A01:0 | DRV TxPDO-Map Statusword | PDO Mapping TxPDO 2 | UINT8 | RO | 0x01 (1dec) |
1A01:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x01 (Statusword)) | UINT32 | RO | 0x6010:01, 16 |
Index 1A02 DRV TxPDO-Map Velocity actual value
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A02:0 | DRV TxPDO-Map Velocity actual value | PDO Mapping TxPDO 3 | UINT8 | RO | 0x01 (1dec) |
1A02:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x07 (Velocity actual value)) | UINT32 | RO | 0x6010:07, 32 |
Index 1A03 DRV TxPDO-Map Torque actual value
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A03:0 | DRV TxPDO-Map Torque actual value | PDO Mapping TxPDO 4 | UINT8 | RO | 0x01 (1dec) |
1A03:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x08 (Torque actual value)) | UINT32 | RO | 0x6010:08, 16 |
Index 1A04 DRV TxPDO-Map Info data 1
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A04:0 | DRV TxPDO-Map Info data 1 | PDO Mapping TxPDO 5 | UINT8 | RO | 0x01 (1dec) |
1A04:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x12 (Info data 1)) | UINT32 | RO | 0x6010:12, 16 |
Index 1A05 DRV TxPDO-Map Info data 2
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A05:0 | DRV TxPDO-Map Info data 2 | PDO Mapping TxPDO 6 | UINT8 | RO | 0x01 (1dec) |
1A05:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x13 (Info data 2)) | UINT32 | RO | 0x6010:13, 16 |
Index 1A06 DRV TxPDO-Map Following error actual value
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A06:0 | DRV TxPDO-Map Following error actual value | PDO Mapping TxPDO 7 | UINT8 | RO | 0x01 (1dec) |
1A06:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x06 (Following error actual value)) | UINT32 | RO | 0x6010:06, 32 |
Index 1A07 FB TxPDO-Map Touch probe status
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A07:0 | FB TxPDO-Map Touch probe status | PDO Mapping TxPDO 8 | UINT8 | RO | 0x0A (10dec) |
1A07:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x01 (TP1 Enable)) | UINT32 | RO | 0x6001:01, 1 |
1A07:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x02 (TP1 pos. value stored)) | UINT32 | RO | 0x6001:02, 1 |
1A07:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x03 (TP1 Neg. value stored)) | UINT32 | RO | 0x6001:03, 1 |
1A07:04 | SubIndex 004 | 4. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A07:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x08 (TP1 Input)) | UINT32 | RO | 0x6001:08, 1 |
1A07:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x09 (TP2 Enable)) | UINT32 | RO | 0x6001:09, 1 |
1A07:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x0A (TP2 pos value stored)) | UINT32 | RO | 0x6001:0A, 1 |
1A07:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x0B (TP2 neg value stored)) | UINT32 | RO | 0x6001:0B, 1 |
1A07:09 | SubIndex 009 | 9. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
1A07:0A | SubIndex 009 | 8. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x10 (TP2 Input)) | UINT32 | RO | 0x6001:10, 1 |
Index 1A08 FB TxPDO-Map Touch probe 1 pos position
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A08:0 | FB TxPDO-Map Touch probe 1 pos position | PDO Mapping TxPDO 9 | UINT8 | RO | 0x01 (1dec) |
1A08:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6001 (FP Touch probe inputs), entry 0x11 (TP1 Pos position)) | UINT32 | RO | 0x6001:11, 32 |
Index 1A09 FB TxPDO-Map Touch probe 1 neg position
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A09:0 | FB TxPDO-Map Touch probe 1 neg position | PDO Mapping TxPDO 10 | UINT8 | RO | 0x01 (1dec) |
1A09:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x12 (TP1 Neg position)) | UINT32 | RO | 0x6001:12, 32 |
Index 1A0A FB TxPDO-Map Touch probe 2 pos position
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A0A:0 | FB TxPDO-Map Touch probe 2 pos position | PDO Mapping TxPDO 11 | UINT8 | RO | 0x01 (1dec) |
1A0A:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x13 (TP2 Pos position)) | UINT32 | RO | 0x6001:13, 32 |
Index 1A0B FB TxPDO-Map Touch probe 2 neg position
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A0B:0 | FB TxPDO-Map Touch probe 2 neg position | PDO Mapping TxPDO 12 | UINT8 | RO | 0x01 (1dec) |
1A0B:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x14 (TP2 neg position)) | UINT32 | RO | 0x6001:14, 32 |
Index 1A0C FB TxPDO-Map Status
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A0C:0 | FB TxPDO-Map Touch probe 2 neg position | PDO Mapping TxPDO 13 | UINT8 | RO | 0x03 (3dec) |
1A0C:01 | SubIndex 001 | 1. PDO Mapping entry (13 bits align) | UINT32 | RO | 0x0000:00, 13 |
1A0C:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (FB inputs), entry 0x0E (TxPDO State)) | UINT32 | RO | 0x6000:0E, 1 |
1A0C:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6000 (FB inputs), entry 0x0F (Input Cycle Counter)) | UINT32 | RO | 0x6000:0F, 2 |
Index 1A0E DRV TxPDO-Map Modes of operation display
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A0E:0 | DRV TxPDO-Map Modes of operation display | PDO Mapping TxPDO 14 | UINT8 | RO | 0x01 (1dec) |
1A0E:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (DRV inputs), entry 0x03 (Modes of operation display)) | UINT32 | RO | 0x6010:03, 8 |
Index 1A30 DMC TxPDO-Map Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A30:0 | DMC RxPDO-Map Inputs | PDO Mapping TxPDO 15 | UINT8 | RO | 0x38 (26dec) |
1A30:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1A30:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x02 (DMC_FeedbackStatus __Latch extern valid)) | UINT32 | RO | 0x6030:02, 1 |
1A30:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x03 (DMC_FeedbackStatus __Set counter done)) | UINT32 | RO | 0x6030:03, 1 |
1A30:04 | SubIndex 004 | 4. PDO Mapping entry (9 bits align) | UINT32 | RO | 0x0000:00, 9 |
1A30:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x0D (DMC_FeedbackStatus __Status of extern latch)) | UINT32 | RO | 0x6030:0D, 1 |
1A30:06 | SubIndex 006 | 6. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A30:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x11 (DMC_DriveStatus __Ready to enable)) | UINT32 | RO | 0x6030:11, 1 |
1A30:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x12 (DMC_DriveStatus __Ready)) | UINT32 | RO | 0x6030:12, 1 |
1A30:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x13 (DMC_DriveStatus __Warning)) | UINT32 | RO | 0x6030:13, 1 |
1A30:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x14 (DMC_DriveStatus __Error)) | UINT32 | RO | 0x6030:14, 1 |
1A30:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x15 (DMC_DriveStatus __Moving positive)) | UINT32 | RO | 0x6030:15, 1 |
1A30:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x16 (DMC_DriveStatus __Moving negative)) | UINT32 | RO | 0x6030:16, 1 |
1A30:0D | SubIndex 013 | 13. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A30:0E | SubIndex 014 | 14. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x1C (DMC_DriveStatus __Digital input 1)) | UINT32 | RO | 0x6030:1C, 1 |
1A30:0F | SubIndex 015 | 15. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x1D (DMC_DriveStatus __Digital input 2)) | UINT32 | RO | 0x6030:1D, 1 |
1A30:10 | SubIndex 016 | 16. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A30:11 | SubIndex 017 | 17. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x21 (DMC_PositioningStatus __Busy)) | UINT32 | RO | 0x6030:21, 1 |
1A30:12 | SubIndex 018 | 18. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x22 (DMC_PositioningStatus __In-Target)) | UINT32 | RO | 0x6030:22, 1 |
1A30:13 | SubIndex 019 | 19. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x23 (DMC_PositioningStatus __Warning)) | UINT32 | RO | 0x6030:23, 1 |
1A30:14 | SubIndex 020 | 20. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x24 (DMC_PositioningStatus __Error)) | UINT32 | RO | 0x6030:24, 1 |
1A30:15 | SubIndex 021 | 21. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x25 (DMC_PositioningStatus __Calibrated)) | UINT32 | RO | 0x6030:25, 1 |
1A30:16 | SubIndex 022 | 22. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x26 (DMC_PositioningStatus __Accelerate)) | UINT32 | RO | 0x6030:26, 1 |
1A30:17 | SubIndex 023 | 23. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x27 (DMC_PositioningStatus __Decelerate)) | UINT32 | RO | 0x6030:27, 1 |
1A30:18 | SubIndex 024 | 24. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x28 (DMC_PositioningStatus __Ready to execute)) | UINT32 | RO | 0x6030:28, 1 |
1A30:19 | SubIndex 025 | 25. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A30:1A | SubIndex 026 | 26. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x31 (DMC_Set position)) | UINT32 | RO | 0x6030:31, 64 |
1A30:1B | SubIndex 027 | 27. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x32 (DMC_Set velocity)) | UINT32 | RO | 0x6030:32, 16 |
1A30:1C | SubIndex 028 | 28. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x33 (DMC_Actual dirve time)) | UINT32 | RO | 0x6030:33, 32 |
1A30:1D | SubIndex 029 | 29. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x34 (DMC_Actual position lag)) | UINT32 | RO | 0x6030:34, 64 |
1A30:1E | SubIndex 030 | 30. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x35 (DMC_Actual velocity)) | UINT32 | RO | 0x6030:35, 16 |
1A30:1F | SubIndex 031 | 31. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x36 (DMC_Actual position)) | UINT32 | RO | 0x6030:36, 64 |
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A30:20 | SubIndex 032 | 32. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x37 (DMC_Error id)) | UINT32 | RO | 0x6030:37, 32 |
1A30:21 | SubIndex 033 | 33. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x38 (DMC_Input cycle counter)) | UINT32 | RO | 0x6030:38, 8 |
1A30:22 | SubIndex 034 | 34. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A30:23 | SubIndex 035 | 35. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3A (DMC_Latch value)) | UINT32 | RO | 0x6030:3A, 64 |
1A30:24 | SubIndex 036 | 36. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3B (DMC_Cyclic info data 1)) | UINT32 | RO | 0x6030:3B, 16 |
1A30:25 | SubIndex 037 | 37. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3C (DMC_Cyclic info data 2)) | UINT32 | RO | 0x6030:3C, 16 |
1A30:26 | SubIndex 038 | 38. PDO Mapping entry (64 bits align) | UINT32 | RO | 0x0000:00, 64 |
Index 1A31 DMC TxPDO-Map Inputs 32-bit
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A31:0 | DMC TxPDO-Map Inputs 32 Bit | PDO Mapping TxPDO 16 | UINT8 | RO | 0x42 (2Adec) |
1A31:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1A31:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x02 (DMC_FeedbackStatus __Latch extern valid)) | UINT32 | RO | 0x6030:02, 1 |
1A31:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x03 (DMC_FeedbackStatus __Set counter done)) | UINT32 | RO | 0x6030:03, 1 |
1A31:04 | SubIndex 004 | 4. PDO Mapping entry (9 bits align) | UINT32 | RO | 0x0000:00, 9 |
1A31:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x0D (DMC_FeedbackStatus __Status of extern latch)) | UINT32 | RO | 0x6030:0D, 1 |
1A31:06 | SubIndex 006 | 6. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A31:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x11 (DMC_DriveStatus __Ready to enable)) | UINT32 | RO | 0x6030:11, 1 |
1A31:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x12 (DMC_DriveStatus __Ready)) | UINT32 | RO | 0x6030:12, 1 |
1A31:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x13 (DMC_DriveStatus __Warning)) | UINT32 | RO | 0x6030:13, 1 |
1A31:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x14 (DMC_DriveStatus __Error)) | UINT32 | RO | 0x6030:14, 1 |
1A31:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x15 (DMC_DriveStatus __Moving positive)) | UINT32 | RO | 0x6030:15, 1 |
1A31:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x16 (DMC_DriveStatus __Moving negative)) | UINT32 | RO | 0x6030:16, 1 |
1A31:0D | SubIndex 013 | 13. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A31:0E | SubIndex 014 | 14. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x1C (DMC_DriveStatus __Digital input 1)) | UINT32 | RO | 0x6030:1C, 1 |
1A31:0F | SubIndex 015 | 15. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x1D (DMC_DriveStatus __Digital input 2)) | UINT32 | RO | 0x6030:1D, 1 |
1A31:10 | SubIndex 016 | 16. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A31:11 | SubIndex 017 | 17. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x21 (DMC_PositioningStatus __Busy)) | UINT32 | RO | 0x6030:21, 1 |
1A31:12 | SubIndex 018 | 18. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x22 (DMC_PositioningStatus __In-Target)) | UINT32 | RO | 0x6030:22, 1 |
1A31:13 | SubIndex 019 | 19. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x23 (DMC_PositioningStatus __Warning)) | UINT32 | RO | 0x6030:23, 1 |
1A31:14 | SubIndex 020 | 20. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x24 (DMC_PositioningStatus __Error)) | UINT32 | RO | 0x6030:24, 1 |
1A31:15 | SubIndex 021 | 21. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x25 (DMC_PositioningStatus __Calibrated)) | UINT32 | RO | 0x6030:25, 1 |
1A31:16 | SubIndex 022 | 22. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x26 (DMC_PositioningStatus __Accelerate)) | UINT32 | RO | 0x6030:26, 1 |
1A31:17 | SubIndex 023 | 23. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x27 (DMC_PositioningStatus __Decelerate)) | UINT32 | RO | 0x6030:27, 1 |
1A31:18 | SubIndex 024 | 24. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x28 (DMC_PositioningStatus __Ready to execute)) | UINT32 | RO | 0x6030:28, 1 |
1A31:19 | SubIndex 025 | 25. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A31:1A | SubIndex 026 | 26. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x31 (DMC_Set position)) | UINT32 | RO | 0x6030:31, 32 |
1A31:1B | SubIndex 027 | 27. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1A31:1C | SubIndex 028 | 28. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x32 (DMC_Set velocity)) | UINT32 | RO | 0x6030:32, 16 |
1A31:1D | SubIndex 029 | 29. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x33 (DMC_Actual dirve time)) | UINT32 | RO | 0x6030:33, 32 |
1A31:1E | SubIndex 030 | 30. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x34 (DMC_Actual position lag)) | UINT32 | RO | 0x6030:34, 32 |
1A31:1F | SubIndex 031 | 31. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1A31:20 | SubIndex 032 | 32. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x35 (DMC_Actual velocity)) | UINT32 | RO | 0x6030:35, 16 |
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A31:21 | SubIndex 033 | 33. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x36 (DMC_Actual position)) | UINT32 | RO | 0x6030:36, 32 |
1A31:22 | SubIndex 034 | 34. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1A31:23 | SubIndex 035 | 35. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x37 (DMC_Error id)) | UINT32 | RO | 0x6030:37, 32 |
1A31:24 | SubIndex 036 | 36. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x38 (DMC_Input cycle counter)) | UINT32 | RO | 0x6030:38, 8 |
1A31:25 | SubIndex 037 | 37. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A31:26 | SubIndex 038 | 38. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3A (DMC_Latch value)) | UINT32 | RO | 0x6030:3A, 32 |
1A31:27 | SubIndex 039 | 39. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1A31:28 | SubIndex 040 | 40. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3B (DMC_Cyclic info data 1)) | UINT32 | RO | 0x6030:3B, 16 |
1A31:29 | SubIndex 041 | 41. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3C (DMC_Cyclic info data 2)) | UINT32 | RO | 0x6030:3C, 16 |
1A31:2A | SubIndex 042 | 42. PDO Mapping entry (64 bits align) | UINT32 | RO | 0x0000:00, 64 |
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 | 0x02 (2dec) |
1C12:01 | Subindex 001 | 1. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RW | 0x1600 (5632dec) |
1C12:02 | Subindex 002 | 2. allocated RxPDO (contains the index of the associated RxPDO mapping object) | UINT16 | RW | 0x1601 (5633dec) |
Index 1C13 TxPDO assign
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C13:0 | TxPDO assign | PDO Assign Inputs | UINT8 | RW | 0x03 (3dec) |
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) |
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 | 0x0002 (2dec) |
1C32:02 | Cycle time | Cycle time (in ns):
| UINT32 | RW | 0x0003D090 (250000dec) |
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 | 0x4806 (18438dec) |
1C32:05 | Minimum cycle time | Minimum cycle time (in ns) | UINT32 | RO | 0x0001E848 (125000dec) |
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 | 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, Standard objects, Standard objects, Standard objects 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 | 0x0002 (2dec) |
1C33:02 | Cycle time | Cycle time (in ns):
DC mode: SYNC0/SYNC1 Cycle Time | UINT32 | RW | 0x0003D090 (250000dec) |
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 | 0x4806 (18483dec) |
1C33:05 | Minimum cycle time | Minimum cycle time (in ns) | UINT32 | RO | 0x0001E848 (125000dec) |
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 | 0x0001E848 (125000dec) |
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 |
The entries Standard objects, Standard objects, Standard objects, Standard objects, 0x1C33:03, 0x1C33:06, 0x1C33:09 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) |
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 | 0x0004 (4dec) |
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 | 0x04 (4dec) |
F010:01 | SubIndex 001 | Encoder profile number | UINT32 | RW | 0x00000201 (513dec) |
F010:02 | SubIndex 002 | Servo drive profile number | UINT32 | RW | 0x000002E6 (742dec) |
F010:03 | SubIndex 003 |
| UINT32 | RW | 0x00000000 (0dec) |
F010:04 | SubIndex 004 | Profile number travel distance control | UINT32 | RW | 0x000002EE (750dec) |
Index F081 Download revision
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F081:0 | Download revision | Max. Subindex | UINT8 | RO | 0x01 (1dec) |
F081:01 | Revision number | The subindex 0xF081:01 (Download revision) describes the revision level of the module. | UINT32 | RW | 0x00000000 (0dec) |
Index FB13 DRV Key Code
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
FB13:0 | DRV Key code |
| UINT8 | RO | 0x01 (1dec) |
FB13:01 | Code | Release code for an output frequency >599 Hz (dual use) The release code is available on request. | OCTET-STRING[32] | RW | 0x0000000 (0dec) |
Index FB40 Memory interface
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
FB40:0 | Memory interface | Maximum subindex | UINT8 | RO | 0x03 (3dec) |
FB40:01 | Address | reserved | UINT32 | RW | 0x00000000 (0dec) |
FB40:02 | Length | reserved | UINT16 | RW | 0x0000 (0dec) |
FB40:03 | Data | reserved | OCTET-STRING[8] | RW | {0} |