CoE parameters

CoE parameters 1:

Parameterization

You can parameterize the box via the "CoE - Online" tab in TwinCAT.

CoE parameters 2:

EtherCAT XML Device Description

The presentation matches that of the EtherCAT XML Device Description.
Recommendation: download the latest XML file from https://www.beckhoff.com/ and install it according to the installation instructions.

Index 1011 Restore default parameters

Index (hex)

Name

Meaning

Data type

Flags

Default

1011:0

Restore default parameters

Restore the default settings in the EtherCAT slave

UINT8

RO

0x01 (1dec)

1011:01

SubIndex 001

If this object is set to "0x64616F6C" ("Set Value Dialog") all terminal/box-specific objects are reset to their delivery state.

UINT32

RW

0x00000000 (0dec)

Index 8000 RMB Settings

Index (hex)

Name

Meaning

Data type

Flags

Default

8000:0

RMB Settings

Max. subindex

UINT8

RO

0x32 (50dec)

8000:01

Mode0 enable filter

0: No filters active. The box operates cycle-synchronously

1: The filter settings selected in subindex 0x8000:11 or 0x8000:12 are active.

BOOLEAN

RW

0x01 (1dec)

8000:02

Mode1 enable filter

BOOLEAN

RW

0x01 (1dec)

8000:03

Mode0 enable averager

Activate hardware mean value filter

BOOLEAN

RW

0x01 (1dec)

8000:04

Mode1 enable averager

BOOLEAN

RW

0x01 (1dec)

8000:05

Symmetric reference potential

Activate symmetric measurement

BOOLEAN

RW

0x01 (1dec)

8000:11

Mode0 filter settings

0: FIR 50 Hz
1: FIR 60 Hz
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
10: Dynamic IIR
11: PDO Filter frequency
see Filter

UINT16

RW

0x0000 (0dec)

8000:12

Mode1 filter settings

UINT16

RW

0x0000 (0dec)

8000:13

Dynamic filter change time

Sampling rate for dynamic filter switching.

Scaling in 0.01 ms (100 = 1 s)

(only if the filters are active and "dynamic IIR" is selected as filter)

UINT16

RW

0x000A (10dec)

8000:14

Dynamic filter delta

Limit value  for dynamic filter switching.

(only if the filters are active and "dynamic IIR" is selected as filter)

REAL32

RW

0x41A00000 (1101004800dec) = 20.0

8000:21

Gain

Scaling factor

REAL32

RW

0x3F800000 (1065353216dec)  = 1.0

8000:22

Tara

Process data value offset

REAL32

RW

0x00000000 (0dec) = 0.0

8000:23

Rated output

Nominal characteristic value of the sensor element in mV/V

REAL32

RW

0x40000000 (1073741824dec)  = 2.0

Index (hex)

Name

Meaning

Data type

Flags

Default

8000:24

Nominal load

Nominal load of the force transducer/load cell/etc. (e.g. in kg or N or ..)

REAL32

RW

0x40A00000 (1084227584dec) = 5.0

8000:25

Zero balance

Zero point offset in mV/V

REAL32

RW

0x00000000 (0dec) = 0.0

8000:26

Gravity of earth

Current acceleration of gravity (default 9.806650)

REAL32

RW

0x411CE80A (1092413450dec) = 9.806650

8000:27

Scale factor

This factor can be used to re-scale the process data. In order to change the display from kg to g, for example, the factor 1000 can be entered here.

REAL32

RW

0x447A0000 (1148846080dec) = 1000.0

8000:28

Reference load

Reference weight for manual calibration

REAL32

RW

0x40A00000 (1084227584dec) = 5.0

8000:29

Steady state window

Time constant for the "Steady state" bit (used for idle recognition)

UINT16

RW

0x03E8 (1000dec)

8000:2A

Steady state tolerance

Tolerance window for the "Steady state" bit

UINT32

RW

0x00000005 (5dec)

8000:31

Calibration interval

Calibration interval for automatic calibration of the terminal/box.

The unit is 100 ms.

The smallest possible value is 5 (500 ms). A value of 0 deactivates automatic self-calibration. This is also possible via the process data bit "Disable calibration".

UINT16

RW

0x0708 (1800dec)

8000:32

Test interval

This register contains the test interval for the cyclic self-test of the terminal/box. This interval is always a multiple (default: 10dec) of the calibration interval (0x8000:31). The test interval when the equipment leaves the factory is therefore 10 x 180 s = 1800 s.

The process data bit "Disable calibration" can be used to deactivate the self-test.

UINT16

RW

0x000A (10dec)

Index 8010, 8020 AI Settings

Index (hex)

Name

Meaning

Data type

Flags

Default

80n0:0

AI Settings

Max. subindex

UINT8

RO

0x18 (24dec)

80n0:01

Enable user scale

User scale is enabled, if bit is set

BOOLEAN

RW

0x00 (0dec)

80n0:06

Enable filter

Activates filter

BOOLEAN

RW

0x01 (1dec)

80n0:0A

Enable user calibration

User calibration is enabled, if bit is set

BOOLEAN

RW

0x00 (0dec)

80n0:0B

Enable vendor calibration

Vendor calibration is enabled, if bit is set

BOOLEAN

RW

0x01 (1dec)

80n0:11

User scale offset

User scale offset

INT32

RW

0x00000000 (0dec)

80n0:12

User scale gain

User scale gain
The gain is represented in fixed-point format, with the factor 2-16.
A value of 1 for the gain factor therefore corresponds to 65535dec (0x00010000hex) and is limited to 0x7FFFF.

INT32

RW

0x00010000 (65536dec)

80n0:15

Filter settings

This object defines the digital filter settings, if it is activated with index 0x80n0:06 .

The possible settings are numbered consecutively

 

0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8

UINT16

RW

0x0000 (0dec)

80n0:17

User calibration offset

User calibration offset

INT32

RW

0x00000000 (0dec)

80n0:18

User calibration gain

User calibration gain

INT16

RW

0x4000 (16384dec)

Command object, Index FB00 RMB Command

Index (hex)

Name

Meaning

Data type

Flags

Default

FB00:0

RMB Command

Max. subindex

UINT8

RO

0x03 (3dec)

FB00:01

Request

Via the request object, commands can be sent to the terminal/box
 Command:

- 0x0101: Zero adjustment

- 0x0102: Calibration

- 0x0001 Tara setting

- 0x0002 Tara setting (Data are saved into the EEPROM)

see commands

OCTET-STRING[2]

RW

{0}

FB00:02

Status

State of the current executed command

0: Command executed without errors

255: Execution of command

UINT8

RO

0x00 (0dec)

FB00:03

Response

Optional return value of the command

OCTET-STRING[4]

RO

{0}

Input data, Index 6000 RMB Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

6000:0

RMB Inputs

Max. subindex

UINT8

RO

0x13 (19dec)

6000:02

Overrange

The measuring value has reached its terminal/box value

BOOLEAN

RO

0x00 (0dec)

6000:04

Data invalid

The indicated process data are not valid, e.g. during calibration

BOOLEAN

RO

0x00 (0dec)

6000:07

Error

An error has occurred

BOOLEAN

RO

0x00 (0dec)

6000:08

Calibration in progress

Calibration in progress. The process data indicate the last valid measuring value

BOOLEAN

RO

0x00 (0dec)

6000:09

Steady state

 

BOOLEAN

RO

0x00 (0dec)

6000:0E

Sync error

TRUE: In the last cycle the synchronization was not correct (only in DC-Mode)

BOOLEAN

RO

0x00 (0dec)

6000:10

TxPDO Toggle

The TxPDO Toggle is toggled by the slave, if the data of the corresponding PDO was updated.

BOOLEAN

RO

0x00 (0dec)

6000:11

Value

Measuring value as 32 Bit SIGNED INTEGER

INT32

RO

0x61746144 (1635017028dec)

6000:12

Value (Real)

Measuring value as REAL

REAL32

RO

0x00000000 (0dec)

6000:13

Timestamp

Timestamp of current measuring value (only in DC-Mode)

UINT64

RO

 

Input data Index 6010, 6020 AI Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

60n0:0

AI Inputs

Max. subindex

UINT8

RO

0x11 (17dec)

60n0:01

Underrange

Value falls below the measuring range

BOOLEAN

RO

0x00 (0dec)

60n0:02

Overrange

Measurement range is exceeded.

BOOLEAN

RO

0x00 (0dec)

60n0:07

Error

An error has occurred, e.g.:
- Over- / underrange Udif
- Over- / underrange Uref
- the external Uref is too low (between-1 V and +1 V)
- Data invalid

BOOLEAN

RO

0x00 (0dec)

60n0:10

TxPDO Toggle

The TxPDO Toggle is toggled by the slave, if the data of the corresponding PDO was updated.

BOOLEAN

RO

0x00 (0dec)

60n0:11

Value

32 Bit measuring value

INT32

RO

0x00000000 (0dec)

Output data, Index 7000 RMB Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

7000:0

RMB Outputs

Max. subindex

UINT8

RO

0x05 (5dec)

7000:01

Start calibration

The calibration can be started manually with a rising edge.
Therefore, an automatic start of the calibration at an inappropriate point of time can be prevented.

BOOLEAN

RO

0x00 (0dec)

7000:02

Disable calibration

0: The automatic calibration is active

1: The automatic calibration is inactive

BOOLEAN

RO

0x00 (0dec)

7000:03

Input freeze

The process data and the digital filter will be frozen

BOOLEAN

RO

0x00 (0dec)

7000:04

Sample mode

Selection of the sampling mode:
 

0: 10.5 kHz High precision
1: 105 kHz Low latency

BOOLEAN

RO

0x00 (0dec)

7000:05

Tara

The process data can be set to zero with a rising edge.
The tara value is not stored in the EEPROM and is lost after a reset of the terminal/box

BOOLEAN

RO

0x00 (0dec)

7000:11

Filter frequency

Filter frequency of the variable PDO filter in 0.1 Hz, see filter

Wertebereich:
value range: 1 ... 2000 (equates to 0,1 ... 200 Hz)

From a value 0 or >2000, the filter behaves like a 50 Hz FIR filter

UINT16

RO

0x00 (0dec)

Information-/diagnostic data, Index 801E, 802E AI Internal data

Index (hex)

Name

Meaning

Data type

Flags

Default

801E:0

AI Internal data

Max. subindex

UINT8

RO

0x01 (1dec)

801E:01

ADC raw value 1

ADC raw value

INT32

RO

0x00000000 (0dec)

Index 9000 RMB Info data

Index (hex)

Name

Meaning

Data type

Flags

Default

9000:0

RMB Info data

Max. subindex

UINT8

RO

0x11 (17dec)

9000:11

mV/V

Current mV/V value

REAL32

RO

0x00000000 (0dec)

Index A000 RMB Diag data

Index (hex)

Name

Meaning

Data type

Flags

Default

A000:0

RMB Diag data

Max. subindex

UINT8

RO

0x18 (24dec)

A000:11

No internal referecnce supply

No internal reference voltage at ADC input (URef channel)

BOOLEAN

RO

0x00 (0dec)

A000:12

No internal referecnce bridge

No internal reference voltage at ADC input  (UDif channel

BOOLEAN

RO

0x00 (0dec)

A000:13

No external reference supply

The external reference voltage is below ±1 V

BOOLEAN

RO

0x00 (0dec)

A000:15

Overrange bridge

Overranged measuring value in the bridge section

BOOLEAN

RO

0x00 (0dec)

A000:16

Underrange bridge

Underranged measuring value in the bridge section

BOOLEAN

RO

0x00 (0dec)

A000:17

Overrange supply

Overranged measuring value of the reference voltage

BOOLEAN

RO

0x00 (0dec)

A000:18

Underrange supply

Underranged measuring value of the reference voltage

BOOLEAN

RO

0x00 (0dec)

Vendor configuration data, Index 801F, 802F AI Vendor data

Index (hex)

Name

Meaning

Data type

Flags

Default

801F:0

AI Vendor data

Max. subindex

UINT8

RO

0x02 (2dec)

801F:01

Calibration offset

Offset (vendor calibration))

INT32

RW

0x01E10000 (31522816dec)

801F:02

Calibration gain

Gain (vendor calibration))

INT16

RW

0x4000 (16384dec)

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 low word contains the CoE profile used (5001). The high word contains the module profile according to the modular device profile.

UINT32

RO

0x01681389 (23597961dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EPP3356-0022

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

0x647697C9 (1685493705dec)

1018:03

Revision

Revision number of the EtherCAT slave; the low word (bit 0-15) indicates the special terminal/box number, the high word (bit 16-31) refers to the device description

UINT32

RO

0x00100000 (1048576dec)

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 1600 RMB RxPDO-Map Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

RMB RxPDO-Map Control

PDO Mapping RxPDO-Map control

UINT8

RO

0x07 (7dec)

1600:01

Subindex 001

1. PDO Mapping entry (object 0x7000 (RMB outputs), entry 0x01 (Start calibration))

OCTET-STRING[10]

RO

0x7000:01, 1

1600:02

Subindex 002

2. PDO Mapping entry (object 0x7000 (RMB outputs), entry 0x02 (Disable calibration))

OCTET-STRING[10]

RO

0x7000:02, 1

1600:03

Subindex 003

3. PDO Mapping entry (object 0x7000 (RMB outputs), entry 0x03 (Input freeze))

OCTET-STRING[10]

RO

0x7000:03, 1

1600:04

Subindex 004

4. PDO Mapping entry (1 bits align)

OCTET-STRING[10]

RO

0x0000:00, 1

1600:05

Subindex 005

5. PDO Mapping entry (object 0x7000 (RMB outputs), entry 0x05 (Tara))

OCTET-STRING[10]

RO

0x7000:05, 1

1600:06

Subindex 006

6. PDO Mapping entry (3 bits align)

OCTET-STRING[10]

RO

0x0000:00, 3

1600:07

Subindex 007

7. PDO Mapping entry (8 bits align)

OCTET-STRING[10]

RO

0x0000:00, 8

Index 1601 RMB RxPDO-Map-Filter frequency

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

RMB RxPDO-Map Filter frequency

PDO Mapping RxPDO-Map Filter frequency

UINT8

RO

0x01 (1dec)

1601:01

Subindex 001

1. PDO Mapping entry (object 0x7000 (RMB ouputs), entry 0x11 (Start calibration))

OCTET-STRING[10]

RO

0x7000:11, 16

Index 1800 RMB TxPDO-Par Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1800:0

RMB TxPDO-Par Status

PDO Parameter TxPDO 1

UINT8

RO

0x06 (6dec)

1800:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 1

OCTET-STRING[10]

RO

04 1A 05 1A 06 1A 07 1A 00 00

Index 1801 RMB TxPDO-Par Value (INT 32)

Index (hex)

Name

Meaning

Data type

Flags

Default

1801:0

RMB TxPDO-Par Value (INT32)

PDO Parameter TxPDO 2

UINT8

RO

0x06 (6dec)

1801:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 2

OCTET-STRING[10]

RO

02 1A 04 1A 05 1A 06 1A 07 1A

Index 1802 RMB TxPDO-Par Value (Real)

Index (hex)

Name

Meaning

Data type

Flags

Default

1802:0

RMB TxPDO-Par Value (Real)

PDO Parameter TxPDO 3

UINT8

RO

0x06 (6dec)

1802:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 3

OCTET-STRING[10]

RO

01 1A 04 1A 05 1A 06 1A 07 1A

Index 1803 RMB TxPDO-Par Timestamp

Index (hex)

Name

Meaning

Data type

Flags

Default

1803:0

RMB TxPDO-Par Timestamp

PDO Parameter TxPDO 4

UINT8

RO

0x06 (6dec)

1803:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 4

OCTET-STRING[10]

RO

04 1A 05 1A 06 1A 07 1A 00 00

Index 1804 AI TxPDO-Par Standard Ch. 1

Index (hex)

Name

Meaning

Data type

Flags

Default

1804:0

AI TxPDO-Par Standard Ch.1

PDO Parameter TxPDO 5

UINT8

RO

0x06 (6dec)

1804:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 5

OCTET-STRING[10]

RO

05 1A 00 1A 01 1A 02 1A 03 1A

Index 1805 AI TxPDO-Par Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1805:0

AI TxPDO-Par Compact Ch.1

PDO Parameter TxPDO 6

UINT8

RO

0x06 (6dec)

1805:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 6

OCTET-STRING[10]

RO

04 1A 00 1A 01 1A 02 1A 03 1A

Index 1806 AI TxPDO-Par Standard Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1806:0

AI TxPDO-Par Standard Ch.2

PDO Parameter TxPDO 7

UINT8

RO

0x06 (6dec)

1806:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 7

OCTET-STRING[10]

RO

07 1A 00 1A 01 1A 02 1A 03 1A

Index 1807 AI TxPDO-Par Compact Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1807:0

AI TxPDO-Par Compact Ch.2

PDO Parameter TxPDO 8

UINT8

RO

0x06 (6dec)

1807:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 8

OCTET-STRING[10]

RO

06 1A 00 1A 01 1A 02 1A 03 1A

Index 1A00 RMB TxPDO-Map Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

RMB TxPDO-Map Status

PDO Mapping RxPDO-Map Status

UINT8

RO

0x0C (12dec)

1A00:01

Subindex 001

1. PDO Mapping entry (1 bits align)

OCTET-STRING[10]

RO

0x0000:00, 1

1A00:02

Subindex 002

2. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x02 (Overrange))

OCTET-STRING[10]

RO

0x6000:02, 1

1A00:03

Subindex 003

3. PDO Mapping entry (1 bits align)

OCTET-STRING[10]

RO

0x0000:00, 1

1A00:04

Subindex 004

4. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x04 (Data invalid))

OCTET-STRING[10]

RO

0x6000:04, 1

1A00:05

Subindex 005

5. PDO Mapping entry (2 bits align)

OCTET-STRING[10]

RO

0x0000:00, 2

1A00:06

Subindex 006

6. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x07 (Error))

OCTET-STRING[10]

RO

0x6000:07, 1

1A00:07

Subindex 007

7. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x08 (Calibration in progress))

OCTET-STRING[10]

RO

0x6000:08, 1

1A00:08

Subindex 008

8. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x09 (Steady state))

OCTET-STRING[10]

RO

0x6000:09, 1

1A00:09

Subindex 009

9. PDO Mapping entry (4 bits align)

OCTET-STRING[10]

RO

0x0000:00, 4

1A00:0A

Subindex 010

10. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x0E (Sync error))

OCTET-STRING[10]

RO

0x6000:0E, 1

1A00:0B

Subindex 011

11. PDO Mapping entry (1 bits align)

OCTET-STRING[10]

RO

0x0000:00, 1

1A00:0C

Subindex 012

12. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x10 (TxPDO Toggle))

OCTET-STRING[10]

RO

0x6000:10, 1

Index 1A01 RMB TxPDO-Map Value (INT32)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

RMB TxPDO-Map Value (INT32)

PDO Mapping Value (INT32)

UINT8

RW

0x01 (1dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x11 (Value))

UINT32

RW

0x6000:11, 32

Index 1A02 RMB TxPDO-Map Value (Real)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

RMB TxPDO-Map Value (real)

PDO Mapping Value (real)

UINT8

RW

0x01 (1dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x12 (Value (real)))

UINT32

RW

0x6000:12, 32

Index 1A03 RMB TxPDO-Map Timestamp

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

RMB TxPDO-Map Timestamp

PDO Mapping Value Timestamp

UINT8

RW

0x01 (1dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x0000, entry 0x00)

UINT64

RW

0x0000:00, 64

Index 1A04 AI TxPDO-Map Standard Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

AI supply TxPDO-Map Standard Ch. 1

PDO Mapping TxPDO  Standard Ch. 1

UINT8

RW

0x07 (7dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (AI supply Inputs), entry 0x01 (Underrange))

UINT32

RW

0x6010:01, 1

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (AI supply Inputs), entry 0x02 (Overrange))

UINT32

RW

0x6010:02, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (4 bits align)

UINT32

RW

0x0000:00, 4

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (AI supply Inputs), entry 0x04 (Error))

UINT32

RW

0x6010:07, 1

1A04:05

SubIndex 005

5. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

1A04:06

SubIndex 006

6. PDO Mapping entry (object 0x6010, entry 0x10 (TxPDO Toggle))

UINT32

RW

0x6010:10, 1

1A04:07

SubIndex 007

7. PDO Mapping entry (object 0x6010, entry 0x11 (Value))

UINT32

RW

0x6010:11, 32

Index 1A05 AI TxPDO-Map Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

AI supply TxPDO-Map Compact Ch. 1

PDO Mapping TxPDO  Compact Ch. 1

UINT8

RW

0x01 (1dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6010, entry 0x11 (Value))

UINT32

RW

0x6010:11, 32

Index 1A06 AI TxPDO-Map Standard Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

AI supply TxPDO-Map Standard Ch. 2

PDO Mapping TxPDO  Standard Ch. 2

UINT8

RW

0x07 (7dec)

1A06:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (AI supply Inputs), entry 0x01 (Underrange))

UINT32

RW

0x6020:01, 1

1A06:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (AI supply Inputs), entry 0x02 (Overrange))

UINT32

RW

0x6020:02, 1

1A06:03

SubIndex 003

3. PDO Mapping entry (4 bits align)

UINT32

RW

0x0000:00, 4

1A06:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (AI supply Inputs), entry 0x04 (Error))

UINT32

RW

0x6020:07, 1

1A06:05

SubIndex 005

5. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

1A06:06

SubIndex 006

6. PDO Mapping entry (object 0x6020, entry 0x10 (TxPDO Toggle))

UINT32

RW

0x6020:10, 1

1A06:07

SubIndex 007

7. PDO Mapping entry (object 0x6020, entry 0x11 (Value))

UINT32

RW

0x6020:11, 32

Index 1A07 AI TxPDO-Map Compact Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

AI supply TxPDO-Map Compact Ch. 2

PDO Mapping TxPDO  Compact Ch. 2

UINT8

RW

0x01 (1dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (object 0x6020, entry 0x11 (Value))

UINT32

RW

0x6020:11, 32

Index 1C00 Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Usage of the Sync Manager channels

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 Inputs

UINT8

RW

0x01 (1dec)

1C12:01

Subindex 001

1. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1600 (5632dec)

1C12:02

Subindex 002

2. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

-

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. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1A00 (6656dec)

1C13:02

Subindex 002

2. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1A01 (6657dec)

1C13:03

Subindex 003

3. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

-

Index 1C32 SM output parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C32:0

SM output parameter

Synchronization parameter of the outputs

UINT8

RO

0x20 (32dec)

1C32:01

Sync mode

Actual 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

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: Cycle time of the master
  • DC-Mode: SYNC0/SYNC1 Cycle time

UINT32

RW

0x000C65D4 (812500dec)

1C32:03

Shift time

Time between SYNC0-Event and Input Latch (in ns, only in DC-Mode)

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 = 01: Input Shift with local event (Outputs available)
  • Bit 4-5 = 10: Output Shift with SYNC1 Event (only DC mode)
  • Bit 14 = 1: dynamic times (could be measured  by writing 0x1C32:08)

UINT16

RO

0xC007 (49159dec)

1C32:05

Minimum cycle time

Minimum cycle time supported (in ns)

UINT32

RO

0x0000C350 (50000dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C32:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C32:08

Command

  • 0: Measurement of the times will be stopped
  • 1: Measurement of the times will be started

The Entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09 will be updated with the maximum measured values. 

The measured valued well be reset, if measured again

UINT16

RW

0x0000 (0dec)

1C32:09

Maximum Delay time

Time between SYNC1-Event and output latch (in ns, only in DC mode)

UINT32

RO

0x00000000 (0dec)

1C32:0B

SM event missed counter

Number of the missed SM-Events in state OPERATIONAL (only in DC Mode)

UINT16

RO

0x0000 (0dec)

1C32:0C

Cycle exceeded counter

Number of the exceeded cycles in state OPERATIONAL

UINT16

RO

0x0000 (0dec)

1C32:0D

Shift too short counter

Number of the too short distances between SYNC0 and SYNC1 Event (only in DC Mode)

UINT16

RO

0x0000 (0dec)

1C32:20

Sync error

TRUE: In the last cycle the synchronization was not correct (only in DC-Mode)

BOOLEAN

RO

0x00 (0dec)

Index 1C33 SM input parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C33:0

SM input parameter

Synchronization parameter of the outputs

UINT8

RO

0x20 (32dec)

1C33:01

Sync mode

Actual 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: synchronous with SM 2 event (outputs available)

UINT16

RW

0x0022 (34dec)

1C33:02

Cycle time

same as 0x1C32:02

UINT32

RW

0x000C65D4 (812500dec)

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: synchronous with SM 2 event is supported (outputs available)
  • Bit 1: synchronous 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 1C33:08)

UINT16

RO

0xC007 (49159dec)

1C33:05

Minimum cycle time

same as 0x1C32:05

UINT32

RO

0x0000C350 (50000dec)

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

 

UINT32

RO

0x00000000 (0dec)

1C33:08

Command

same as 0x1C32:08

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

same as 0x1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

same as 0x1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

same as 0x1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

same 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 spacing of the objects of the individual channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0001 (1dec)

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

Max. subindex

UINT8

RW

0x03 (3dec)

F010:01

SubIndex 001

RMB

UINT32

RW

0x00000172 (370dec)

F010:02

SubIndex 002

 AI

UINT32

RW

0x0000012C (300dec)

F010:03

SubIndex 003

 AI

UINT32

RW

0x0000012C (300dec)