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

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

ED7062-0000

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version des EtherCAT slaves

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 100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100B:0

Bootloader version

 

STRING

RO

n/a

Index 1011 Restore default parameters

Index (hex)

Name

Meaning

Data type

Flags

Default

1011:0

Restore default parameters

Restore default settings

UINT8

RO

0x01 (1dec))

1011:01

SubIndex 001

If this object is set to “0x64616F6C” in the set value dialog, all backup objects are reset to their delivery state.

UINT32

RW

0x00000000 (0dec))

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

0x1B961052 (462819410dec))

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 (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

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0dec))

Index 10F3 Diagnosis History

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis History

 

UINT8

RO

0x37 (55dec))

10F3:01

Maximum Messages

 

UINT8

RO

0x00 (0dec))

10F3:02

Newest Message

 

UINT8

RO

0x00 (0dec))

10F3:03

Newest Acknowledged Message

 

UINT8

RW

0x00 (0dec))

10F3:04

New Messages Available

 

BOOLEAN

RO

0x00 (0dec))

10F3:05

Flags

 

UINT16

RW

0x0000 (0dec))

10F3:06

Diagnosis Message 001

 

OCTET-STRING[32]

RO

{0}

10F3:07

Diagnosis Message 002

 

OCTET-STRING[32]

RO

{0}

10F3:08

Diagnosis Message 003

 

OCTET-STRING[32]

RO

{0}

…

…

…

…

…

…

10F3:35

Diagnosis Message 048

 

OCTET-STRING[32]

RO

{0}

10F3:36

Diagnosis Message 049

 

OCTET-STRING[32]

RO

{0}

10F3:37

Diagnosis Message 050

 

OCTET-STRING[32]

RO

{0}

Index 10F8 Timestamp Object

Index (hex)

Name

Meaning

Data type

Flags

Default

10F8:0

Timestamp Object

 

UINT64

RO

 

Index 1460 DMC RxPDO-Par Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1460:0

DMC RxPDO-Par Outputs Ch.1

PDO Parameter RxPDO 97

UINT8

RO

0x06 (6dec)

1460:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 97

OCTET-STRING[2]

RO

61 16

Index 1461 DMC RxPDO-Par Outputs 32 Bit Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1461:0

DMC RxPDO-Par Outputs 32 Bit Ch.1

PDO Parameter RxPDO 98

UINT8

RO

0x06 (6dec)

1461:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 98

OCTET-STRING[2]

RO

60 16

Index 14E0 DMC RxPDO-Par Outputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

14E0:0

DMC RxPDO-Par Outputs Ch.2

PDO Parameter RxPDO 225

UINT8

RO

0x06 (6dec))

14E0:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 225

OCTET-STRING[2]

RO

E1 16

Index 14E1 DMC RxPDO-Par Outputs 32 Bit Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

14E1:0

DMC RxPDO-Par Outputs 32 Bit Ch.2

PDO Parameter RxPDO 226

UINT8

RO

0x06 (6dec))

14E1:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 226

OCTET-STRING[2]

RO

E0 16

Index 1600 DRV RxPDO-Map Controlword Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

DRV RxPDO-Map Controlword Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x01 (1dec)

1600:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x01 (Controlword))

UINT32

RO

0x7010:01, 16

Index 1601 DRV RxPDO-Map Target velocity Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

DRV RxPDO-Map Target velocity Ch.1

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1dec)

1601:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x06 (Target velocity))

UINT32

RO

0x7010:06, 32

Index 1602 DRV RxPDO-Map Target torque Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

DRV RxPDO-Map Target torque Ch.1

PDO Mapping RxPDO 3

UINT8

RO

0x01 (1dec)

1602:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x09 (Target torque))

UINT32

RO

0x7010:09, 16

Index 1603 DRV RxPDO-Map Commutation angle Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1603:0

DRV RxPDO-Map Commutation angle Ch.1

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1dec)

1603:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x0E (Commutation angle))

UINT32

RO

0x7010:0E, 16

Index 1604 DRV RxPDO-Map Torque limitation Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

DRV RxPDO-Map Torque limitation Ch.1

PDO Mapping RxPDO 5

UINT8

RO

0x01 (1dec)

1604:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x0B (Torque limitation))

UINT32

RO

0x7010:0B, 16

Index 1605 DRV RxPDO-Map Torque offset Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

DRV RxPDO-Map Torque offset Ch.1

PDO Mapping RxPDO 6

UINT8

RO

0x01 (1dec)

1605:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x0A (Torque offset))

UINT32

RO

0x7010:0A, 16

Index 1606 DRV RxPDO-Map Target position Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1606:0

DRV RxPDO-Map Target position Ch.1

PDO Mapping RxPDO 7

UINT8

RO

0x01 (1dec)

1606:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x05 (Target position))

UINT32

RO

0x7010:05, 32

Index 1607 FB RxPDO-Map Touch probe control Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1607:0

FB RxPDO-Map Touch probe control Ch.1

PDO Mapping RxPDO 8

UINT8

RO

0x0C (12dec)

1607:01

SubIndex 001

1st PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x01 (TP1 Enable))

UINT32

RO

0x7001:01, 1

1607:02

SubIndex 002

2nd PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x02 (TP1 Continuous))

UINT32

RO

0x7001:02, 1

1607:03

SubIndex 003

3rd PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x03 (TP1 Trigger mode))

UINT32

RO

0x7001:03, 2

1607:04

SubIndex 004

4th PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x05 (TP1 Enable pos edge))

UINT32

RO

0x7001:05, 1

1607:05

SubIndex 005

5th PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x06 (TP1 Enable neg edge))

UINT32

RO

0x7001:06, 1

1607:06

SubIndex 006

6th PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1607:07

SubIndex 007

7th PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x09 (TP2 Enable))

UINT32

RO

0x7001:09, 1

1607:08

SubIndex 008

8th PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x0A (TP2 Continuous))

UINT32

RO

0x7001:0A, 1

1607:09

SubIndex 009

9th PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x0B (TP2 Trigger mode))

UINT32

RO

0x7001:0B, 2

1607:0A

SubIndex 010

10th PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x0D (TP2 Enable pos edge))

UINT32

RO

0x7001:0D, 1

1607:0B

SubIndex 011

11th PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x0E (TP2 Enable neg edge))

UINT32

RO

0x7001:0E, 1

1607:0C

SubIndex 012

12th PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

Index 1608 DRV RxPDO-Map Modes of operation Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1608:0

DRV RxPDO-Map Modes of operation Ch.1

PDO Mapping RxPDO 9

UINT8

RO

0x01 (1dec)

1608:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x03 (Modes of operation))

UINT32

RO

0x7010:03, 8

Index 1609 DRV RxPDO-Map Velocity offset Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1609:0

DRV RxPDO-Map Velocity offset Ch.1

PDO Mapping RxPDO 10

UINT8

RO

0x01 (1dec)

1609:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x0F (Velocity offset))

UINT32

RO

0x7010:0F, 32

Index 160A DRV RxPDO-Map Positive torque limit value Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

160A:0

DRV RxPDO-Map Positive torque limit value Ch.1

PDO Mapping RxPDO 11

UINT8

RO

0x01 (1dec)

160A:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x10 (Positive torque limit value))

UINT32

RO

0x7010:10, 16

Index 160B DRV RxPDO-Map Negative torque limit value Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

160B:0

DRV RxPDO-Map Negative torque limit value Ch.1

PDO Mapping RxPDO 12

UINT8

RO

0x01 (1dec)

160B:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x11 (Negative torque limit value))

UINT32

RO

0x7010:11, 16

Index 160C DRV RxPDO-Map Low velocity limit value Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

160C:0

DRV RxPDO-Map Low velocity limit value Ch.1

PDO Mapping RxPDO 13

UINT8

RO

0x01 (1dec)

160C:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x12 (Low velocity limit value))

UINT32

RO

0x7010:12, 32

Index 160D DRV RxPDO-Map High velocity limit value Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

160D:0

DRV RxPDO-Map High velocity limit value Ch.1

PDO Mapping RxPDO 14

UINT8

RO

0x01 (1dec)

160D:01

SubIndex 001

1st PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x13 (High velocity limit value))

UINT32

RO

0x7010:13, 32

Index 1660 DMC RxPDO-Map Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1660:0

DMC RxPDO-Map Outputs Ch.1

PDO Mapping RxPDO 97

UINT8

RO

0x12 (18dec)

1660:01

SubIndex 001

1st PDO Mapping entry (1 bit aligns)

UINT32

RO

0x0000:00, 1

1660:02

SubIndex 002

2nd PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge))

UINT32

RO

0x7060:02, 1

1660:03

SubIndex 003

3rd PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x03 (DMC__FeedbackControl__Set counter))

UINT32

RO

0x7060:03, 1

1660:04

SubIndex 004

4th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))

UINT32

RO

0x7060:04, 1

1660:05

SubIndex 005

5th PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1660:06

SubIndex 006

6th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x11 (DMC__DriveControl__Enable))

UINT32

RO

0x7060:11, 1

1660:07

SubIndex 007

7th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x12 (DMC__DriveControl__Reset))

UINT32

RO

0x7060:12, 1

1660:08

SubIndex 008

8th PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1660:09

SubIndex 009

9th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x21 (DMC__PositioningControl__Execute))

UINT32

RO

0x7060:21, 1

1660:0A

SubIndex 010

10th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x22 (DMC__PositioningControl__Emergency stop))

UINT32

RO

0x7060:22, 1

1660:0B

SubIndex 011

11th PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1660:0C

SubIndex 012

12th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x31 (DMC__Set counter value))

UINT32

RO

0x7060:31, 64

1660:0D

SubIndex 013

13th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x32 (DMC__Target position))

UINT32

RO

0x7060:32, 64

1660:0E

SubIndex 014

14th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x33 (DMC__Target velocity))

UINT32

RO

0x7060:33, 16

1660:0F

SubIndex 015

15th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x34 (DMC__Start type))

UINT32

RO

0x7060:34, 16

1660:10

SubIndex 016

16th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x35 (DMC__Target acceleration))

UINT32

RO

0x7060:35, 16

1660:11

SubIndex 017

17th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x36 (DMC__Target deceleration))

UINT32

RO

0x7060:36, 16

1660:12

SubIndex 018

18th PDO Mapping entry (80 bits align)

UINT32

RO

0x0000:00, 80

Index 1661 DMC RxPDO-Map Outputs 32 Bit Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1661:0

DMC RxPDO-Map Outputs 32 Bit Ch.1

PDO Mapping RxPDO 98

UINT8

RO

0x14 (20dec)

1661:01

SubIndex 001

1st PDO Mapping entry (1 bit aligns)

UINT32

RO

0x0000:00, 1

1661:02

SubIndex 002

2nd PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge))

UINT32

RO

0x7060:02, 1

1661:03

SubIndex 003

3rd PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x03 (DMC__FeedbackControl__Set counter))

UINT32

RO

0x7060:03, 1

1661:04

SubIndex 004

4th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))

UINT32

RO

0x7060:04, 1

1661:05

SubIndex 005

5th PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1661:06

SubIndex 006

6th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x11 (DMC__DriveControl__Enable))

UINT32

RO

0x7060:11, 1

1661:07

SubIndex 007

7th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x12 (DMC__DriveControl__Reset))

UINT32

RO

0x7060:12, 1

1661:08

SubIndex 008

8th PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1661:09

SubIndex 009

9th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x21 (DMC__PositioningControl__Execute))

UINT32

RO

0x7060:21, 1

1661:0A

SubIndex 010

10th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x22 (DMC__PositioningControl__Emergency stop))

UINT32

RO

0x7060:22, 1

1661:0B

SubIndex 011

11th PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1661:0C

SubIndex 012

12th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x31 (DMC__Set counter value))

UINT32

RO

0x7060:31, 32

1661:0D

SubIndex 013

13th PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1661:0E

SubIndex 014

14th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x32 (DMC__Target position))

UINT32

RO

0x7060:32, 32

1661:0F

SubIndex 015

15th PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1661:10

SubIndex 016

16th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x33 (DMC__Target velocity))

UINT32

RO

0x7060:33, 16

1661:11

SubIndex 017

17th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x34 (DMC__Start type))

UINT32

RO

0x7060:34, 16

1661:12

SubIndex 018

18th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x35 (DMC__Target acceleration))

UINT32

RO

0x7060:35, 16

1661:13

SubIndex 019

19th PDO Mapping entry (object 0x7060 (DMC Outputs Ch.1), entry 0x36 (DMC__Target deceleration))

UINT32

RO

0x7060:36, 16

1661:14

SubIndex 020

20th PDO Mapping entry (80 bits align)

UINT32

RO

0x0000:00, 80

Index 1680 DRV RxPDO-Map Controlword Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1680:0

DRV RxPDO-Map Controlword Ch.2

PDO Mapping RxPDO 129

UINT8

RO

0x01 (1dec))

1680:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x01 (Controlword))

UINT32

RO

0x7110:01, 16

Index 1681 DRV RxPDO-Map Target velocity Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1681:0

DRV RxPDO-Map Target velocity Ch.2

PDO Mapping RxPDO 130

UINT8

RO

0x01 (1dec))

1681:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x06 (Target velocity))

UINT32

RO

0x7110:06, 32

Index 1682 DRV RxPDO-Map Target torque Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1682:0

DRV RxPDO-Map Target torque Ch.2

PDO Mapping RxPDO 131

UINT8

RO

0x01 (1dec))

1682:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x09 (Target torque))

UINT32

RO

0x7110:09, 16

Index 1683 DRV RxPDO-Map Commutation angle Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1683:0

DRV RxPDO-Map Commutation angle Ch.2

PDO Mapping RxPDO 132

UINT8

RO

0x01 (1dec))

1683:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x0E (Commutation angle))

UINT32

RO

0x7110:0E, 16

Index 1684 DRV RxPDO-Map Torque limitation Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1684:0

DRV RxPDO-Map Torque limitation Ch.2

PDO Mapping RxPDO 133

UINT8

RO

0x01 (1dec))

1684:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x0B (Torque limitation))

UINT32

RO

0x7110:0B, 16

Index 1685 DRV RxPDO-Map Torque offset Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1685:0

DRV RxPDO-Map Torque offset Ch.2

PDO Mapping RxPDO 134

UINT8

RO

0x01 (1dec))

1685:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x0A (Torque offset))

UINT32

RO

0x7110:0A, 16

Index 1686 DRV RxPDO-Map Target position Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1686:0

DRV RxPDO-Map Target position Ch.2

PDO Mapping RxPDO 135

UINT8

RO

0x01 (1dec))

1686:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x05 (Target position))

UINT32

RO

0x7110:05, 32

Index 1687 FB RxPDO-Map Touch probe control Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1687:0

FB RxPDO-Map Touch probe control Ch.2

PDO Mapping RxPDO 136

UINT8

RO

0x0C (12dec))

1687:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x01 (TP1 Enable))

UINT32

RO

0x7101:01, 1

1687:02

SubIndex 002

PDO Mapping entry no. 2 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x02 (TP1 Continous))

UINT32

RO

0x7101:02, 1

1687:03

SubIndex 003

PDO Mapping entry no. 3 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x03 (TP1 Trigger mode))

UINT32

RO

0x7101:03, 2

1687:04

SubIndex 004

PDO Mapping entry no. 4 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x05 (TP1 Enable pos edge))

UINT32

RO

0x7101:05, 1

1687:05

SubIndex 005

PDO Mapping entry no. 5 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x06 (TP1 Enable neg edge))

UINT32

RO

0x7101:06, 1

1687:06

SubIndex 006

PDO Mapping entry no. 6 (2 bits align)

UINT32

RO

0x0000:00, 2

1687:07

SubIndex 007

PDO Mapping entry no. 7 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x09 (TP2 Enable))

UINT32

RO

0x7101:09, 1

1687:08

SubIndex 008

PDO Mapping entry no. 8 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x0A (TP2 Continous))

UINT32

RO

0x7101:0A, 1

1687:09

SubIndex 009

PDO Mapping entry no. 9 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x0B (TP2 Trigger mode))

UINT32

RO

0x7101:0B, 2

1687:0A

SubIndex 010

PDO Mapping entry no. 10 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x0D (TP2 Enable pos edge))

UINT32

RO

0x7101:0D, 1

1687:0B

SubIndex 011

PDO Mapping entry no. 11 (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x0E (TP2 Enable neg edge))

UINT32

RO

0x7101:0E, 1

1687:0C

SubIndex 012

PDO Mapping entry no. 12 (2 bits align)

UINT32

RO

0x0000:00, 2

Index 1688 DRV RxPDO-Map Modes of operation Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1688:0

DRV RxPDO-Map Modes of operation Ch.2

PDO Mapping RxPDO 137

UINT8

RO

0x01 (1dec))

1688:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x03 (Modes of operation))

UINT32

RO

0x7110:03, 8

Index 1689 DRV RxPDO-Map Velocity offset Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1689:0

DRV RxPDO-Map Velocity offset Ch.2

PDO Mapping RxPDO 138

UINT8

RO

0x01 (1dec))

1689:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x0F (Velocity offset))

UINT32

RO

0x7110:0F, 32

Index 168A DRV RxPDO-Map Positive torque limit value Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

168A:0

DRV RxPDO-Map Positive torque limit value Ch.2

PDO Mapping RxPDO 139

UINT8

RO

0x01 (1dec))

168A:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x10 (Positive torque limit value))

UINT32

RO

0x7110:10, 16

Index 168B DRV RxPDO-Map Negative torque limit value Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

168B:0

DRV RxPDO-Map Negative torque limit value Ch.2

PDO Mapping RxPDO 140

UINT8

RO

0x01 (1dec))

168B:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x11 (Negative torque limit value))

UINT32

RO

0x7110:11, 16

Index 168C DRV RxPDO-Map Low velocity limit value Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

168C:0

DRV RxPDO-Map Low velocity limit value Ch.2

PDO Mapping RxPDO 141

UINT8

RO

0x01 (1dec))

168C:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x12 (Low velocity limit value))

UINT32

RO

0x7110:12, 32

Index 168D DRV RxPDO-Map High velocity limit value Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

168D:0

DRV RxPDO-Map High velocity limit value Ch.2

PDO Mapping RxPDO 142

UINT8

RO

0x01 (1dec))

168D:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x7110 (DRV Outputs Ch.2), entry 0x13 (High velocity limit value))

UINT32

RO

0x7110:13, 32

Index 16E0 DMC RxPDO-Map Outputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

16E0:0

DMC RxPDO-Map Outputs Ch.2

PDO Mapping RxPDO 225

UINT8

RO

0x12 (18dec))

16E0:01

SubIndex 001

PDO Mapping entry no. 1 (1 bits align)

UINT32

RO

0x0000:00, 1

16E0:02

SubIndex 002

PDO Mapping entry no. 2 (object 0x7160 (DMC Outputs Ch.2), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge))

UINT32

RO

0x7160:02, 1

16E0:03

SubIndex 003

PDO Mapping entry no. 3 (object 0x7160 (DMC Outputs Ch.2), entry 0x03 (DMC__FeedbackControl__Set counter))

UINT32

RO

0x7160:03, 1

16E0:04

SubIndex 004

PDO Mapping entry no. 4 (object 0x7160 (DMC Outputs Ch.2), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))

UINT32

RO

0x7160:04, 1

16E0:05

SubIndex 005

PDO Mapping entry no. 5 (12 bits align)

UINT32

RO

0x0000:00, 12

16E0:06

SubIndex 006

PDO Mapping entry no. 6 (object 0x7160 (DMC Outputs Ch.2), entry 0x11 (DMC__DriveControl__Enable))

UINT32

RO

0x7160:11, 1

16E0:07

SubIndex 007

PDO Mapping entry no. 7 (object 0x7160 (DMC Outputs Ch.2), entry 0x12 (DMC__DriveControl__Reset))

UINT32

RO

0x7160:12, 1

16E0:08

SubIndex 008

PDO Mapping entry no. 8 (14 bits align)

UINT32

RO

0x0000:00, 14

16E0:09

SubIndex 009

PDO Mapping entry no. 9 (object 0x7160 (DMC Outputs Ch.2), entry 0x21 (DMC__PositioningControl__Execute))

UINT32

RO

0x7160:21, 1

16E0:0A

SubIndex 010

PDO Mapping entry no. 10 (object 0x7160 (DMC Outputs Ch.2), entry 0x22 (DMC__PositioningControl__Emergency stop))

UINT32

RO

0x7160:22, 1

16E0:0B

SubIndex 011

PDO Mapping entry no. 11 (14 bits align)

UINT32

RO

0x0000:00, 14

16E0:0C

SubIndex 012

PDO Mapping entry no. 12 (object 0x7160 (DMC Outputs Ch.2), entry 0x31 (DMC__Set counter value))

UINT32

RO

0x7160:31, 64

16E0:0D

SubIndex 013

PDO Mapping entry no. 13 (object 0x7160 (DMC Outputs Ch.2), entry 0x32 (DMC__Target position))

UINT32

RO

0x7160:32, 64

16E0:0E

SubIndex 014

PDO Mapping entry no. 14 (object 0x7160 (DMC Outputs Ch.2), entry 0x33 (DMC__Target velocity))

UINT32

RO

0x7160:33, 16

16E0:0F

SubIndex 015

PDO Mapping entry no. 15 (object 0x7160 (DMC Outputs Ch.2), entry 0x34 (DMC__Start type))

UINT32

RO

0x7160:34, 16

16E0:10

SubIndex 016

PDO Mapping entry no. 16 (object 0x7160 (DMC Outputs Ch.2), entry 0x35 (DMC__Target acceleration))

UINT32

RO

0x7160:35, 16

16E0:11

SubIndex 017

PDO Mapping entry no. 17 (object 0x7160 (DMC Outputs Ch.2), entry 0x36 (DMC__Target deceleration))

UINT32

RO

0x7160:36, 16

16E0:12

SubIndex 018

PDO Mapping entry no. 18 (80 bits align)

UINT32

RO

0x0000:00, 80

Index 16E1 DMC RxPDO-Map Outputs 32 Bit Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

16E1:0

DMC RxPDO-Map Outputs 32 Bit Ch.2

PDO Mapping RxPDO 226

UINT8

RO

0x14 (20dec))

16E1:01

SubIndex 001

PDO Mapping entry no. 1 (1 bits align)

UINT32

RO

0x0000:00, 1

16E1:02

SubIndex 002

PDO Mapping entry no. 2 (object 0x7160 (DMC Outputs Ch.2), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge))

UINT32

RO

0x7160:02, 1

16E1:03

SubIndex 003

PDO Mapping entry no. 3 (object 0x7160 (DMC Outputs Ch.2), entry 0x03 (DMC__FeedbackControl__Set counter))

UINT32

RO

0x7160:03, 1

16E1:04

SubIndex 004

PDO Mapping entry no. 4 (object 0x7160 (DMC Outputs Ch.2), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))

UINT32

RO

0x7160:04, 1

16E1:05

SubIndex 005

PDO Mapping entry no. 5 (12 bits align)

UINT32

RO

0x0000:00, 12

16E1:06

SubIndex 006

PDO Mapping entry no. 6 (object 0x7160 (DMC Outputs Ch.2), entry 0x11 (DMC__DriveControl__Enable))

UINT32

RO

0x7160:11, 1

16E1:07

SubIndex 007

PDO Mapping entry no. 7 (object 0x7160 (DMC Outputs Ch.2), entry 0x12 (DMC__DriveControl__Reset))

UINT32

RO

0x7160:12, 1

16E1:08

SubIndex 008

PDO Mapping entry no. 8 (14 bits align)

UINT32

RO

0x0000:00, 14

16E1:09

SubIndex 009

PDO Mapping entry no. 9 (object 0x7160 (DMC Outputs Ch.2), entry 0x21 (DMC__PositioningControl__Execute))

UINT32

RO

0x7160:21, 1

16E1:0A

SubIndex 010

PDO Mapping entry no. 10 (object 0x7160 (DMC Outputs Ch.2), entry 0x22 (DMC__PositioningControl__Emergency stop))

UINT32

RO

0x7160:22, 1

16E1:0B

SubIndex 011

PDO Mapping entry no. 11 (14 bits align)

UINT32

RO

0x0000:00, 14

16E1:0C

SubIndex 012

PDO Mapping entry no. 12 (object 0x7160 (DMC Outputs Ch.2), entry 0x31 (DMC__Set counter value))

UINT32

RO

0x7160:31, 32

16E1:0D

SubIndex 013

PDO Mapping entry no. 13 (32 bits align)

UINT32

RO

0x0000:00, 32

16E1:0E

SubIndex 014

PDO Mapping entry no. 14 (object 0x7160 (DMC Outputs Ch.2), entry 0x32 (DMC__Target position))

UINT32

RO

0x7160:32, 32

16E1:0F

SubIndex 015

PDO Mapping entry no. 15 (32 bits align)

UINT32

RO

0x0000:00, 32

16E1:10

SubIndex 016

PDO Mapping entry no. 16 (object 0x7160 (DMC Outputs Ch.2), entry 0x33 (DMC__Target velocity))

UINT32

RO

0x7160:33, 16

16E1:11

SubIndex 017

PDO Mapping entry no. 17 (object 0x7160 (DMC Outputs Ch.2), entry 0x34 (DMC__Start type))

UINT32

RO

0x7160:34, 16

16E1:12

SubIndex 018

PDO Mapping entry no. 18 (object 0x7160 (DMC Outputs Ch.2), entry 0x35 (DMC__Target acceleration))

UINT32

RO

0x7160:35, 16

16E1:13

SubIndex 019

PDO Mapping entry no. 19 (object 0x7160 (DMC Outputs Ch.2), entry 0x36 (DMC__Target deceleration))

UINT32

RO

0x7160:36, 16

16E1:14

SubIndex 020

PDO Mapping entry no. 20 (80 bits align)

UINT32

RO

0x0000:00, 80

Index 1860 DMC TxPDO-Par Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1860:0

DMC TxPDO-Par Inputs Ch.1

PDO Parameter TxPDO 97

UINT8

RO

0x06 (6dec)

1860:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 97

OCTET-STRING[2]

RO

61 1A

Index 1861 DMC TxPDO-Par Inputs 32 Bit Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1861:0

DMC TxPDO-Par Inputs 32 Bit Ch.1

PDO Parameter TxPDO 98

UINT8

RO

0x06 (6dec)

1861:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 98

OCTET-STRING[2]

RO

60 1A

Index 18E0 DMC TxPDO-Par Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

18E0:0

DMC TxPDO-Par Inputs Ch.2

PDO Parameter TxPDO 225

UINT8

RO

0x06 (6dec))

18E0:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that may not be transferred with TxPDO 225

OCTET-STRING[2]

RO

E1 1A

Index 18E1 DMC TxPDO-Par Inputs 32 Bit Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

18E1:0

DMC TxPDO-Par Inputs 32 Bit Ch.2

PDO Parameter TxPDO 226

UINT8

RO

0x06 (6dec))

18E1:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that may not be transferred with TxPDO 226

OCTET-STRING[2]

RO

E0 1A

Index 1A00 FB TxPDO-Map Position Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

FB TxPDO-Map Position Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x01 (1dec)

1A00:01

SubIndex 001

1st PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x11 (Position))

UINT32

RO

0x6000:11, 32

Index 1A01 DRV TxPDO-Map Statusword Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

DRV TxPDO-Map Statusword Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x01 (1dec)

1A01:01

SubIndex 001

1st PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x01 (Statusword))

UINT32

RO

0x6010:01, 16

Index 1A02 DRV TxPDO-Map Velocity actual value Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

DRV TxPDO-Map Velocity actual value Ch.1

PDO Mapping TxPDO 3

UINT8

RO

0x01 (1dec)

1A02:01

SubIndex 001

1st PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x07 (Velocity actual value))

UINT32

RO

0x6010:07, 32

Index 1A03 DRV TxPDO-Map Torque actual value Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

DRV TxPDO-Map Torque actual value Ch.1

PDO Mapping TxPDO 4

UINT8

RO

0x01 (1dec)

1A03:01

SubIndex 001

1st PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x08 (Torque actual value))

UINT32

RO

0x6010:08, 16

Index 1A04 DRV TxPDO-Map Info data 1 Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

DRV TxPDO-Map Info data 1 Ch.1

PDO Mapping TxPDO 5

UINT8

RW

0x01 (1dec)

1A04:01

SubIndex 001

1st PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x12 (Info data 1))

UINT32

RW

0x6010:12, 16

1A04:02

SubIndex 002

2nd PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:03

SubIndex 003

3rd PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:04

SubIndex 004

4th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:05

SubIndex 005

5th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:06

SubIndex 006

6th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:07

SubIndex 007

7th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:08

SubIndex 008

8th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:09

SubIndex 009

9th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:0A

SubIndex 010

10th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:0B

SubIndex 011

11th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:0C

SubIndex 012

12th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:0D

SubIndex 013

13th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:0E

SubIndex 014

14th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:0F

SubIndex 015

15th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A04:10

SubIndex 016

16th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

Index 1A05 DRV TxPDO-Map Info data 2 Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

DRV TxPDO-Map Info data 2 Ch.1

PDO Mapping TxPDO 6

UINT8

RW

0x01 (1dec)

1A05:01

SubIndex 001

1st PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x13 (Info data 2))

UINT32

RW

0x6010:13, 16

1A05:02

SubIndex 002

2nd PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:03

SubIndex 003

3rd PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:04

SubIndex 004

4th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:05

SubIndex 005

5th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:06

SubIndex 006

6th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:07

SubIndex 007

7th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:08

SubIndex 008

8th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:09

SubIndex 009

9th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:0A

SubIndex 010

10th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:0B

SubIndex 011

11th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:0C

SubIndex 012

12th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:0D

SubIndex 013

13th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:0E

SubIndex 014

14th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:0F

SubIndex 015

15th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A05:10

SubIndex 016

16th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

Index 1A06 DRV TxPDO-Map Following error actual value Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

DRV TxPDO-Map Following error actual value Ch.1

PDO Mapping TxPDO 7

UINT8

RO

0x01 (1dec)

1A06:01

SubIndex 001

1st PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x06 (Following error actual value))

UINT32

RO

0x6010:06, 32

Index 1A07 FB TxPDO-Map Touch probe status Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

FB TxPDO-Map Touch probe status Ch.1

PDO Mapping TxPDO 8

UINT8

RO

0x0A (10dec)

1A07:01

SubIndex 001

1st PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x01 (TP1 Enable))

UINT32

RO

0x6001:01, 1

1A07:02

SubIndex 002

2nd PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x02 (TP1 Pos value stored))

UINT32

RO

0x6001:02, 1

1A07:03

SubIndex 003

3rd PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x03 (TP1 Neg value stored))

UINT32

RO

0x6001:03, 1

1A07:04

SubIndex 004

4th PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A07:05

SubIndex 005

5th PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x08 (TP1 Input))

UINT32

RO

0x6001:08, 1

1A07:06

SubIndex 006

6th PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x09 (TP2 Enable))

UINT32

RO

0x6001:09, 1

1A07:07

SubIndex 007

7th PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x0A (TP2 Pos value stored))

UINT32

RO

0x6001:0A, 1

1A07:08

SubIndex 008

8th PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x0B (TP2 Neg value stored))

UINT32

RO

0x6001:0B, 1

1A07:09

SubIndex 009

9th PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A07:0A

SubIndex 010

10th PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x10 (TP2 Input))

UINT32

RO

0x6001:10, 1

Index 1A08 FB TxPDO-Map Touch probe 1 pos position Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

FB TxPDO-Map Touch probe 1 pos position Ch.1

PDO Mapping TxPDO 9

UINT8

RO

0x01 (1dec)

1A08:01

SubIndex 001

1st PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x11 (TP1 Pos position))

UINT32

RO

0x6001:11, 32

Index 1A09 FB TxPDO-Map Touch probe 1 neg position Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A09:0

FB TxPDO-Map Touch probe 1 neg position Ch.1

PDO Mapping TxPDO 10

UINT8

RO

0x01 (1dec)

1A09:01

SubIndex 001

1st PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x12 (TP1 Neg position))

UINT32

RO

0x6001:12, 32

Index 1A0A FB TxPDO-Map Touch probe 2 pos position Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0A:0

FB TxPDO-Map Touch probe 2 pos position Ch.1

PDO Mapping TxPDO 11

UINT8

RO

0x01 (1dec)

1A0A:01

SubIndex 001

1st PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x13 (TP2 Pos position))

UINT32

RO

0x6001:13, 32

Index 1A0B FB TxPDO-Map Touch probe 2 neg position Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0B:0

FB TxPDO-Map Touch probe 2 neg position Ch.1

PDO Mapping TxPDO 12

UINT8

RO

0x01 (1dec)

1A0B:01

SubIndex 001

1st PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x14 (TP2 Neg position))

UINT32

RO

0x6001:14, 32

Index 1A0D DRV TxPDO-Map Info data 3 Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0D:0

DRV TxPDO-Map Info data 3 Ch.1

PDO Mapping TxPDO 14

UINT8

RW

0x01 (1dec)

1A0D:01

SubIndex 001

1st PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x14 (Info data 3))

UINT32

RW

0x6010:14, 16

1A0D:02

SubIndex 002

2nd PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:03

SubIndex 003

3rd PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:04

SubIndex 004

4th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:05

SubIndex 005

5th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:06

SubIndex 006

6th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:07

SubIndex 007

7th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:08

SubIndex 008

8th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:09

SubIndex 009

9th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:0A

SubIndex 010

10th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:0B

SubIndex 011

11th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:0C

SubIndex 012

12th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:0D

SubIndex 013

13th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:0E

SubIndex 014

14th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:0F

SubIndex 015

15th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

1A0D:10

SubIndex 016

16th PDO Mapping entry (0 bits align)

UINT32

RW

0x0000:00, 0

Index 1A0E DRV TxPDO-Map Modes of operation display Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0E:0

DRV TxPDO-Map Modes of operation display Ch.1

PDO Mapping TxPDO 15

UINT8

RO

0x01 (1dec)

1A0E:01

SubIndex 001

1st PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x03 (Modes of operation display))

UINT32

RO

0x6010:03, 8

Index 1A0F DRV TxPDO-Map Torque limitation status Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0F:0

DRV TxPDO-Map Torque limitation status Ch.1

PDO Mapping TxPDO 16

UINT8

RO

0x01 (1dec)

1A0F:01

SubIndex 001

1st PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x15 (Torque limitation status))

UINT32

RO

0x6010:15, 8

Index 1A10 DI TxPDO-Map Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A10:0

DI TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 17

UINT8

RO

0x07 (7dec)

1A10:01

SubIndex 001

1st PDO Mapping entry (object 0x6020 (DI Inputs Ch.1), entry 0x01 (Input 1))

UINT32

RO

0x6020:01, 1

1A10:02

SubIndex 002

2nd PDO Mapping entry (object 0x6020 (DI Inputs Ch.1), entry 0x02 (Input 2))

UINT32

RO

0x6020:02, 1

1A10:03

SubIndex 003

3rd PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A10:04

SubIndex 004

4th PDO Mapping entry (object 0x6020 (DI Inputs Ch.1), entry 0x05 (Encoder A))

UINT32

RO

0x6020:05, 1

1A10:05

SubIndex 005

5th PDO Mapping entry (object 0x6020 (DI Inputs Ch.1), entry 0x06 (Encoder B))

UINT32

RO

0x6020:06, 1

1A10:06

SubIndex 006

6th PDO Mapping entry (object 0x6020 (DI Inputs Ch.1), entry 0x07 (Encoder C))

UINT32

RO

0x6020:07, 1

1A10:07

SubIndex 007

7th PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

Index 1A11 FB TxPDO-Map Touch probe 1 pos timestamp Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A11:0

FB TxPDO-Map Touch probe 1 pos timestamp Ch.1

PDO Mapping TxPDO 18

UINT8

RO

0x01 (1dec)

1A11:01

SubIndex 001

1st PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x15 (TP1 Pos timestamp))

UINT32

RO

0x6001:15, 32

Index 1A12 FB TxPDO-Map Touch probe 1 neg timestamp Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A12:0

FB TxPDO-Map Touch probe 1 neg timestamp Ch.1

PDO Mapping TxPDO 19

UINT8

RO

0x01 (1dec)

1A12:01

SubIndex 001

1st PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x16 (TP1 Neg timestamp))

UINT32

RO

0x6001:16, 32

Index 1A13 FB TxPDO-Map Touch probe 2 pos timestamp Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A13:0

FB TxPDO-Map Touch probe 2 pos timestamp Ch.1

PDO Mapping TxPDO 20

UINT8

RO

0x01 (1dec)

1A13:01

SubIndex 001

1st PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x17 (TP2 Pos timestamp))

UINT32

RO

0x6001:17, 32

Index 1A14 FB TxPDO-Map Touch probe 2 neg timestamp Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A14:0

FB TxPDO-Map Touch probe 2 neg timestamp Ch.1

PDO Mapping TxPDO 21

UINT8

RO

0x01 (1dec)

1A14:01

SubIndex 001

1st PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x18 (TP2 Neg timestamp))

UINT32

RO

0x6001:18, 32

Index 1A15 FB TxPDO-Map Secondary Position Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A15:0

FB TxPDO-Map Secondary Position Ch.1

PDO Mapping TxPDO 22

UINT8

RO

0x01 (1dec)

1A15:01

SubIndex 001

1st PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x15 (Secondary position))

UINT32

RO

0x6000:15, 32

Index 1A60 DMC TxPDO-Map Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A60:0

DMC TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 97

UINT8

RO

0x26 (38dec)

1A60:01

SubIndex 001

1st PDO Mapping entry (1 bit aligns)

UINT32

RO

0x0000:00, 1

1A60:02

SubIndex 002

2nd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))

UINT32

RO

0x6060:02, 1

1A60:03

SubIndex 003

3rd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x03 (DMC__FeedbackStatus__Set counter done))

UINT32

RO

0x6060:03, 1

1A60:04

SubIndex 004

4th PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

1A60:05

SubIndex 005

5th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))

UINT32

RO

0x6060:0D, 1

1A60:06

SubIndex 006

6th PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A60:07

SubIndex 007

7th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x11 (DMC__DriveStatus__Ready to enable))

UINT32

RO

0x6060:11, 1

1A60:08

SubIndex 008

8th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x12 (DMC__DriveStatus__Ready))

UINT32

RO

0x6060:12, 1

1A60:09

SubIndex 009

9th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x13 (DMC__DriveStatus__Warning))

UINT32

RO

0x6060:13, 1

1A60:0A

SubIndex 010

10th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x14 (DMC__DriveStatus__Error))

UINT32

RO

0x6060:14, 1

1A60:0B

SubIndex 011

11th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x15 (DMC__DriveStatus__Moving positive))

UINT32

RO

0x6060:15, 1

1A60:0C

SubIndex 012

12th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x16 (DMC__DriveStatus__Moving negative))

UINT32

RO

0x6060:16, 1

1A60:0D

SubIndex 013

13th PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A60:0E

SubIndex 014

14th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x1C (DMC__DriveStatus__Digital input 1))

UINT32

RO

0x6060:1C, 1

1A60:0F

SubIndex 015

15th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x1D (DMC__DriveStatus__Digital input 2))

UINT32

RO

0x6060:1D, 1

1A60:10

SubIndex 016

16th PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A60:11

SubIndex 017

17th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x21 (DMC__PositioningStatus__Busy))

UINT32

RO

0x6060:21, 1

1A60:12

SubIndex 018

18th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x22 (DMC__PositioningStatus__In-Target))

UINT32

RO

0x6060:22, 1

1A60:13

SubIndex 019

19th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x23 (DMC__PositioningStatus__Warning))

UINT32

RO

0x6060:23, 1

1A60:14

SubIndex 020

20th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x24 (DMC__PositioningStatus__Error))

UINT32

RO

0x6060:24, 1

1A60:15

SubIndex 021

21st PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x25 (DMC__PositioningStatus__Calibrated))

UINT32

RO

0x6060:25, 1

1A60:16

SubIndex 022

22nd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x26 (DMC__PositioningStatus__Accelerate))

UINT32

RO

0x6060:26, 1

1A60:17

SubIndex 023

23rd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x27 (DMC__PositioningStatus__Decelerate))

UINT32

RO

0x6060:27, 1

1A60:18

SubIndex 024

24th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x28 (DMC__PositioningStatus__Ready to execute))

UINT32

RO

0x6060:28, 1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A60:19

SubIndex 025

25th PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A60:1A

SubIndex 026

26th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x31 (DMC__Set position))

UINT32

RO

0x6060:31, 64

1A60:1B

SubIndex 027

27th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x32 (DMC__Set velocity))

UINT32

RO

0x6060:32, 16

1A60:1C

SubIndex 028

28th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x33 (DMC__Actual drive time))

UINT32

RO

0x6060:33, 32

1A60:1D

SubIndex 029

29th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x34 (DMC__Actual position lag))

UINT32

RO

0x6060:34, 64

1A60:1E

SubIndex 030

30th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x35 (DMC__Actual velocity))

UINT32

RO

0x6060:35, 16

1A60:1F

SubIndex 031

31st PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x36 (DMC__Actual position))

UINT32

RO

0x6060:36, 64

1A60:20

SubIndex 032

32nd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x37 (DMC__Error id))

UINT32

RO

0x6060:37, 32

1A60:21

SubIndex 033

33rd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x38 (DMC__Input cycle counter))

UINT32

RO

0x6060:38, 8

1A60:22

SubIndex 034

34th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x39 (DMC__Channel id))

UINT32

RO

0x6060:39, 8

1A60:23

SubIndex 035

35th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x3A (DMC__Latch value))

UINT32

RO

0x6060:3A, 64

1A60:24

SubIndex 036

36th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x3B (DMC__Cyclic info data 1))

UINT32

RO

0x6060:3B, 16

1A60:25

SubIndex 037

37th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x3C (DMC__Cyclic info data 2))

UINT32

RO

0x6060:3C, 16

1A60:26

SubIndex 038

38th PDO Mapping entry (64 bits align)

UINT32

RO

0x0000:00, 64

Index 1A61 DMC TxPDO-Map Inputs 32 Bit Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A61:0

DMC TxPDO-Map Inputs 32 Bit Ch.1

PDO Mapping TxPDO 98

UINT8

RO

0x2A (42dec)

1A61:01

SubIndex 001

1st PDO Mapping entry (1 bit aligns)

UINT32

RO

0x0000:00, 1

1A61:02

SubIndex 002

2nd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))

UINT32

RO

0x6060:02, 1

1A61:03

SubIndex 003

3rd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x03 (DMC__FeedbackStatus__Set counter done))

UINT32

RO

0x6060:03, 1

1A61:04

SubIndex 004

4th PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

1A61:05

SubIndex 005

5th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))

UINT32

RO

0x6060:0D, 1

1A61:06

SubIndex 006

6th PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A61:07

SubIndex 007

7th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x11 (DMC__DriveStatus__Ready to enable))

UINT32

RO

0x6060:11, 1

1A61:08

SubIndex 008

8th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x12 (DMC__DriveStatus__Ready))

UINT32

RO

0x6060:12, 1

1A61:09

SubIndex 009

9th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x13 (DMC__DriveStatus__Warning))

UINT32

RO

0x6060:13, 1

1A61:0A

SubIndex 010

10th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x14 (DMC__DriveStatus__Error))

UINT32

RO

0x6060:14, 1

1A61:0B

SubIndex 011

11th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x15 (DMC__DriveStatus__Moving positive))

UINT32

RO

0x6060:15, 1

1A61:0C

SubIndex 012

12th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x16 (DMC__DriveStatus__Moving negative))

UINT32

RO

0x6060:16, 1

1A61:0D

SubIndex 013

13th PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A61:0E

SubIndex 014

14th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x1C (DMC__DriveStatus__Digital input 1))

UINT32

RO

0x6060:1C, 1

1A61:0F

SubIndex 015

15th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x1D (DMC__DriveStatus__Digital input 2))

UINT32

RO

0x6060:1D, 1

1A61:10

SubIndex 016

16th PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A61:11

SubIndex 017

17th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x21 (DMC__PositioningStatus__Busy))

UINT32

RO

0x6060:21, 1

1A61:12

SubIndex 018

18th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x22 (DMC__PositioningStatus__In-Target))

UINT32

RO

0x6060:22, 1

1A61:13

SubIndex 019

19th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x23 (DMC__PositioningStatus__Warning))

UINT32

RO

0x6060:23, 1

1A61:14

SubIndex 020

20th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x24 (DMC__PositioningStatus__Error))

UINT32

RO

0x6060:24, 1

1A61:15

SubIndex 021

21st PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x25 (DMC__PositioningStatus__Calibrated))

UINT32

RO

0x6060:25, 1

1A61:16

SubIndex 022

22nd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x26 (DMC__PositioningStatus__Accelerate))

UINT32

RO

0x6060:26, 1

1A61:17

SubIndex 023

23rd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x27 (DMC__PositioningStatus__Decelerate))

UINT32

RO

0x6060:27, 1

1A61:18

SubIndex 024

24th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x28 (DMC__PositioningStatus__Ready to execute))

UINT32

RO

0x6060:28, 1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A61:19

SubIndex 025

25th PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A61:1A

SubIndex 026

26th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x31 (DMC__Set position))

UINT32

RO

0x6060:31, 32

1A61:1B

SubIndex 027

27th PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A61:1C

SubIndex 028

28th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x32 (DMC__Set velocity))

UINT32

RO

0x6060:32, 16

1A61:1D

SubIndex 029

29th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x33 (DMC__Actual drive time))

UINT32

RO

0x6060:33, 32

1A61:1E

SubIndex 030

30th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x34 (DMC__Actual position lag))

UINT32

RO

0x6060:34, 32

1A61:1F

SubIndex 031

31st PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A61:20

SubIndex 032

32nd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x35 (DMC__Actual velocity))

UINT32

RO

0x6060:35, 16

1A61:21

SubIndex 033

33rd PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x36 (DMC__Actual position))

UINT32

RO

0x6060:36, 32

1A61:22

SubIndex 034

34th PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A61:23

SubIndex 035

35th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x37 (DMC__Error id))

UINT32

RO

0x6060:37, 32

1A61:24

SubIndex 036

36th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x38 (DMC__Input cycle counter))

UINT32

RO

0x6060:38, 8

1A61:25

SubIndex 037

37th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x39 (DMC__Channel id))

UINT32

RO

0x6060:39, 8

1A61:26

SubIndex 038

38th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x3A (DMC__Latch value))

UINT32

RO

0x6060:3A, 32

1A61:27

SubIndex 039

39th PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A61:28

SubIndex 040

40th PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x3B (DMC__Cyclic info data 1))

UINT32

RO

0x6060:3B, 16

1A61:29

SubIndex 041

41st PDO Mapping entry (object 0x6060 (DMC Inputs Ch.1), entry 0x3C (DMC__Cyclic info data 2))

UINT32

RO

0x6060:3C, 16

1A61:2A

SubIndex 042

42nd PDO Mapping entry (64 bits align)

UINT32

RO

0x0000:00, 64

Index 1A80 FB TxPDO-Map Position Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A80:0

FB TxPDO-Map Position Ch.2

PDO Mapping TxPDO 129

UINT8

RO

0x01 (1dec))

1A80:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6100 (FB Inputs Ch.2), entry 0x11 (Position))

UINT32

RO

0x6100:11, 32

Index 1A81 DRV TxPDO-Map Statusword Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A81:0

DRV TxPDO-Map Statusword Ch.2

PDO Mapping TxPDO 130

UINT8

RO

0x01 (1dec))

1A81:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6110 (DRV Inputs Ch.2), entry 0x01 (Statusword))

UINT32

RO

0x6110:01, 16

Index 1A82 DRV TxPDO-Map Velocity actual value Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A82:0

DRV TxPDO-Map Velocity actual value Ch.2

PDO Mapping TxPDO 131

UINT8

RO

0x01 (1dec))

1A82:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6110 (DRV Inputs Ch.2), entry 0x07 (Velocity actual value))

UINT32

RO

0x6110:07, 32

Index 1A83 DRV TxPDO-Map Torque actual value Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A83:0

DRV TxPDO-Map Torque actual value Ch.2

PDO Mapping TxPDO 132

UINT8

RO

0x01 (1dec))

1A83:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6110 (DRV Inputs Ch.2), entry 0x08 (Torque actual value))

UINT32

RO

0x6110:08, 16

Index 1A84 DRV TxPDO-Map Info data 1 Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A84:0

DRV TxPDO-Map Info data 1 Ch.2

PDO Mapping TxPDO 133

UINT8

RW

0x01 (1dec))

1A84:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6110 (DRV Inputs Ch.2), entry 0x12 (Info data 1))

UINT32

RW

0x6110:12, 16

1A84:02

SubIndex 002

PDO Mapping entry no. 2 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:03

SubIndex 003

PDO Mapping entry no. 3 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:04

SubIndex 004

PDO Mapping entry no. 4 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:05

SubIndex 005

PDO Mapping entry no. 5 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:06

SubIndex 006

PDO Mapping entry no. 6 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:07

SubIndex 007

PDO Mapping entry no. 7 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:08

SubIndex 008

PDO Mapping entry no. 8 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:09

SubIndex 009

PDO Mapping entry no. 9 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:0A

SubIndex 010

PDO Mapping entry no. 10 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:0B

SubIndex 011

PDO Mapping entry no. 11 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:0C

SubIndex 012

PDO Mapping entry no. 12 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:0D

SubIndex 013

PDO Mapping entry no. 13 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:0E

SubIndex 014

PDO Mapping entry no. 14 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:0F

SubIndex 015

PDO Mapping entry no. 15 (0 bits align)

UINT32

RW

0x0000:00, 0

1A84:10

SubIndex 016

PDO Mapping entry no. 16 (0 bits align)

UINT32

RW

0x0000:00, 0

Index 1A85 DRV TxPDO-Map Info data 2 Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A85:0

DRV TxPDO-Map Info data 2 Ch.2

PDO Mapping TxPDO 134

UINT8

RW

0x01 (1dec))

1A85:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6110 (DRV Inputs Ch.2), entry 0x13 (Info data 2))

UINT32

RW

0x6110:13, 16

1A85:02

SubIndex 002

PDO Mapping entry no. 2 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:03

SubIndex 003

PDO Mapping entry no. 3 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:04

SubIndex 004

PDO Mapping entry no. 4 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:05

SubIndex 005

PDO Mapping entry no. 5 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:06

SubIndex 006

PDO Mapping entry no. 6 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:07

SubIndex 007

PDO Mapping entry no. 7 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:08

SubIndex 008

PDO Mapping entry no. 8 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:09

SubIndex 009

PDO Mapping entry no. 9 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:0A

SubIndex 010

PDO Mapping entry no. 10 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:0B

SubIndex 011

PDO Mapping entry no. 11 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:0C

SubIndex 012

PDO Mapping entry no. 12 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:0D

SubIndex 013

PDO Mapping entry no. 13 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:0E

SubIndex 014

PDO Mapping entry no. 14 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:0F

SubIndex 015

PDO Mapping entry no. 15 (0 bits align)

UINT32

RW

0x0000:00, 0

1A85:10

SubIndex 016

PDO Mapping entry no. 16 (0 bits align)

UINT32

RW

0x0000:00, 0

Index 1A86 DRV TxPDO-Map Following error actual value Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A86:0

DRV TxPDO-Map Following error actual value Ch.2

PDO Mapping TxPDO 135

UINT8

RO

0x01 (1dec))

1A86:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6110 (DRV Inputs Ch.2), entry 0x06 (Following error actual value))

UINT32

RO

0x6110:06, 32

Index 1A87 FB TxPDO-Map Touch probe status Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A87:0

FB TxPDO-Map Touch probe status Ch.2

PDO Mapping TxPDO 136

UINT8

RO

0x0A (10dec))

1A87:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x01 (TP1 Enable))

UINT32

RO

0x6101:01, 1

1A87:02

SubIndex 002

PDO Mapping entry no. 2 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x02 (TP1 Pos value stored))

UINT32

RO

0x6101:02, 1

1A87:03

SubIndex 003

PDO Mapping entry no. 3 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x03 (TP1 Neg value stored))

UINT32

RO

0x6101:03, 1

1A87:04

SubIndex 004

PDO Mapping entry no. 4 (4 bits align)

UINT32

RO

0x0000:00, 4

1A87:05

SubIndex 005

PDO Mapping entry no. 5 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x08 (TP1 Input))

UINT32

RO

0x6101:08, 1

1A87:06

SubIndex 006

PDO Mapping entry no. 6 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x09 (TP2 Enable))

UINT32

RO

0x6101:09, 1

1A87:07

SubIndex 007

PDO Mapping entry no. 7 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x0A (TP2 Pos value stored))

UINT32

RO

0x6101:0A, 1

1A87:08

SubIndex 008

PDO Mapping entry no. 8 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x0B (TP2 Neg value stored))

UINT32

RO

0x6101:0B, 1

1A87:09

SubIndex 009

PDO Mapping entry no. 9 (4 bits align)

UINT32

RO

0x0000:00, 4

1A87:0A

SubIndex 010

PDO Mapping entry no. 10 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x10 (TP2 Input))

UINT32

RO

0x6101:10, 1

Index 1A88 FB TxPDO-Map Touch probe 1 pos position Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A88:0

FB TxPDO-Map Touch probe 1 pos position Ch.2

PDO Mapping TxPDO 137

UINT8

RO

0x01 (1dec))

1A88:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x11 (TP1 Pos position))

UINT32

RO

0x6101:11, 32

Index 1A89 FB TxPDO-Map Touch probe 1 neg position Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A89:0

FB TxPDO-Map Touch probe 1 neg position Ch.2

PDO Mapping TxPDO 138

UINT8

RO

0x01 (1dec))

1A89:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x12 (TP1 Neg position))

UINT32

RO

0x6101:12, 32

Index 1A8A FB TxPDO-Map Touch probe 2 pos position Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A8A:0

FB TxPDO-Map Touch probe 2 pos position Ch.2

PDO Mapping TxPDO 139

UINT8

RO

0x01 (1dec))

1A8A:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x13 (TP2 Pos position))

UINT32

RO

0x6101:13, 32

Index 1A8B FB TxPDO-Map Touch probe 2 neg position Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A8B:0

FB TxPDO-Map Touch probe 2 neg position Ch.2

PDO Mapping TxPDO 140

UINT8

RO

0x01 (1dec))

1A8B:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x14 (TP2 Neg position))

UINT32

RO

0x6101:14, 32

Index 1A8D DRV TxPDO-Map Info data 3 Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A8D:0

DRV TxPDO-Map Info data 3 Ch.2

PDO Mapping TxPDO 142

UINT8

RW

0x01 (1dec))

1A8D:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6110 (DRV Inputs Ch.2), entry 0x14 (Info data 3))

UINT32

RW

0x6110:14, 16

1A8D:02

SubIndex 002

PDO Mapping entry no. 2 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:03

SubIndex 003

PDO Mapping entry no. 3 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:04

SubIndex 004

PDO Mapping entry no. 4 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:05

SubIndex 005

PDO Mapping entry no. 5 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:06

SubIndex 006

PDO Mapping entry no. 6 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:07

SubIndex 007

PDO Mapping entry no. 7 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:08

SubIndex 008

PDO Mapping entry no. 8 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:09

SubIndex 009

PDO Mapping entry no. 9 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:0A

SubIndex 010

PDO Mapping entry no. 10 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:0B

SubIndex 011

PDO Mapping entry no. 11 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:0C

SubIndex 012

PDO Mapping entry no. 12 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:0D

SubIndex 013

PDO Mapping entry no. 13 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:0E

SubIndex 014

PDO Mapping entry no. 14 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:0F

SubIndex 015

PDO Mapping entry no. 15 (0 bits align)

UINT32

RW

0x0000:00, 0

1A8D:10

SubIndex 016

PDO Mapping entry no. 16 (0 bits align)

UINT32

RW

0x0000:00, 0

Index 1A8E DRV TxPDO-Map Modes of operation display Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A8E:0

DRV TxPDO-Map Modes of operation display Ch.2

PDO Mapping TxPDO 143

UINT8

RO

0x01 (1dec))

1A8E:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6110 (DRV Inputs Ch.2), entry 0x03 (Modes of operation display))

UINT32

RO

0x6110:03, 8

Index 1A8F DRV TxPDO-Map Torque limitation status Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A8F:0

DRV TxPDO-Map Torque limitation status Ch.2

PDO Mapping TxPDO 144

UINT8

RO

0x01 (1dec))

1A8F:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6110 (DRV Inputs Ch.2), entry 0x15 (Torque limitation status))

UINT32

RO

0x6110:15, 8

Index 1A90 DI TxPDO-Map Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A90:0

DI TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 145

UINT8

RO

0x07 (7dec))

1A90:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6120 (DI Inputs Ch.2), entry 0x01 (Input 1))

UINT32

RO

0x6120:01, 1

1A90:02

SubIndex 002

PDO Mapping entry no. 2 (object 0x6120 (DI Inputs Ch.2), entry 0x02 (Input 2))

UINT32

RO

0x6120:02, 1

1A90:03

SubIndex 003

PDO Mapping entry no. 3 (2 bits align)

UINT32

RO

0x0000:00, 2

1A90:04

SubIndex 004

PDO Mapping entry no. 4 (object 0x6120 (DI Inputs Ch.2), entry 0x05 (Encoder A))

UINT32

RO

0x6120:05, 1

1A90:05

SubIndex 005

PDO Mapping entry no. 5 (object 0x6120 (DI Inputs Ch.2), entry 0x06 (Encoder B))

UINT32

RO

0x6120:06, 1

1A90:06

SubIndex 006

PDO Mapping entry no. 6 (object 0x6120 (DI Inputs Ch.2), entry 0x07 (Encoder C))

UINT32

RO

0x6120:07, 1

1A90:07

SubIndex 007

PDO Mapping entry no. 7 (9 bits align)

UINT32

RO

0x0000:00, 9

Index 1A91 FB TxPDO-Map Touch probe 1 pos timestamp Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A91:0

FB TxPDO-Map Touch probe 1 pos timestamp Ch.2

PDO Mapping TxPDO 146

UINT8

RO

0x01 (1dec))

1A91:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x15 (TP1 Pos timestamp))

UINT32

RO

0x6101:15, 32

Index 1A92 FB TxPDO-Map Touch probe 1 neg timestamp Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A92:0

FB TxPDO-Map Touch probe 1 neg timestamp Ch.2

PDO Mapping TxPDO 147

UINT8

RO

0x01 (1dec))

1A92:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x16 (TP1 Neg timestamp))

UINT32

RO

0x6101:16, 32

Index 1A93 FB TxPDO-Map Touch probe 2 pos timestamp Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A93:0

FB TxPDO-Map Touch probe 2 pos timestamp Ch.2

PDO Mapping TxPDO 148

UINT8

RO

0x01 (1dec))

1A93:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x17 (TP2 Pos timestamp))

UINT32

RO

0x6101:17, 32

Index 1A94 FB TxPDO-Map Touch probe 2 neg timestamp Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A94:0

FB TxPDO-Map Touch probe 2 neg timestamp Ch.2

PDO Mapping TxPDO 149

UINT8

RO

0x01 (1dec))

1A94:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x18 (TP2 Neg timestamp))

UINT32

RO

0x6101:18, 32

Index 1A95 FB TxPDO-Map Secondary Position Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A95:0

FB TxPDO-Map Secondary Position Ch.2

PDO Mapping TxPDO 150

UINT8

RO

0x01 (1dec))

1A95:01

SubIndex 001

PDO Mapping entry no. 1 (object 0x6100 (FB Inputs Ch.2), entry 0x15 (Secondary position))

UINT32

RO

0x6100:15, 32

Index 1AE0 DMC TxPDO-Map Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1AE0:0

DMC TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 225

UINT8

RO

0x26 (38dec))

1AE0:01

SubIndex 001

PDO Mapping entry no. 1 (1 bits align)

UINT32

RO

0x0000:00, 1

1AE0:02

SubIndex 002

PDO Mapping entry no. 2 (object 0x6160 (DMC Inputs Ch.2), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))

UINT32

RO

0x6160:02, 1

1AE0:03

SubIndex 003

PDO Mapping entry no. 3 (object 0x6160 (DMC Inputs Ch.2), entry 0x03 (DMC__FeedbackStatus__Set counter done))

UINT32

RO

0x6160:03, 1

1AE0:04

SubIndex 004

PDO Mapping entry no. 4 (9 bits align)

UINT32

RO

0x0000:00, 9

1AE0:05

SubIndex 005

PDO Mapping entry no. 5 (object 0x6160 (DMC Inputs Ch.2), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))

UINT32

RO

0x6160:0D, 1

1AE0:06

SubIndex 006

PDO Mapping entry no. 6 (3 bits align)

UINT32

RO

0x0000:00, 3

1AE0:07

SubIndex 007

PDO Mapping entry no. 7 (object 0x6160 (DMC Inputs Ch.2), entry 0x11 (DMC__DriveStatus__Ready to enable))

UINT32

RO

0x6160:11, 1

1AE0:08

SubIndex 008

PDO Mapping entry no. 8 (object 0x6160 (DMC Inputs Ch.2), entry 0x12 (DMC__DriveStatus__Ready))

UINT32

RO

0x6160:12, 1

1AE0:09

SubIndex 009

PDO Mapping entry no. 9 (object 0x6160 (DMC Inputs Ch.2), entry 0x13 (DMC__DriveStatus__Warning))

UINT32

RO

0x6160:13, 1

1AE0:0A

SubIndex 010

PDO Mapping entry no. 10 (object 0x6160 (DMC Inputs Ch.2), entry 0x14 (DMC__DriveStatus__Error))

UINT32

RO

0x6160:14, 1

1AE0:0B

SubIndex 011

PDO Mapping entry no. 11 (object 0x6160 (DMC Inputs Ch.2), entry 0x15 (DMC__DriveStatus__Moving positive))

UINT32

RO

0x6160:15, 1

1AE0:0C

SubIndex 012

PDO Mapping entry no. 12 (object 0x6160 (DMC Inputs Ch.2), entry 0x16 (DMC__DriveStatus__Moving negative))

UINT32

RO

0x6160:16, 1

1AE0:0D

SubIndex 013

PDO Mapping entry no. 13 (5 bits align)

UINT32

RO

0x0000:00, 5

1AE0:0E

SubIndex 014

PDO Mapping entry no. 14 (object 0x6160 (DMC Inputs Ch.2), entry 0x1C (DMC__DriveStatus__Digital input 1))

UINT32

RO

0x6160:1C, 1

1AE0:0F

SubIndex 015

PDO Mapping entry no. 15 (object 0x6160 (DMC Inputs Ch.2), entry 0x1D (DMC__DriveStatus__Digital input 2))

UINT32

RO

0x6160:1D, 1

1AE0:10

SubIndex 016

PDO Mapping entry no. 16 (3 bits align)

UINT32

RO

0x0000:00, 3

1AE0:11

SubIndex 017

PDO Mapping entry no. 17 (object 0x6160 (DMC Inputs Ch.2), entry 0x21 (DMC__PositioningStatus__Busy))

UINT32

RO

0x6160:21, 1

1AE0:12

SubIndex 018

PDO Mapping entry no. 18 (object 0x6160 (DMC Inputs Ch.2), entry 0x22 (DMC__PositioningStatus__In-Target))

UINT32

RO

0x6160:22, 1

1AE0:13

SubIndex 019

PDO Mapping entry no. 19 (object 0x6160 (DMC Inputs Ch.2), entry 0x23 (DMC__PositioningStatus__Warning))

UINT32

RO

0x6160:23, 1

1AE0:14

SubIndex 020

PDO Mapping entry no. 20 (object 0x6160 (DMC Inputs Ch.2), entry 0x24 (DMC__PositioningStatus__Error))

UINT32

RO

0x6160:24, 1

1AE0:15

SubIndex 021

PDO Mapping entry no. 21 (object 0x6160 (DMC Inputs Ch.2), entry 0x25 (DMC__PositioningStatus__Calibrated))

UINT32

RO

0x6160:25, 1

1AE0:16

SubIndex 022

PDO Mapping entry no. 22 (object 0x6160 (DMC Inputs Ch.2), entry 0x26 (DMC__PositioningStatus__Accelerate))

UINT32

RO

0x6160:26, 1

1AE0:17

SubIndex 023

PDO Mapping entry no. 23 (object 0x6160 (DMC Inputs Ch.2), entry 0x27 (DMC__PositioningStatus__Decelerate))

UINT32

RO

0x6160:27, 1

1AE0:18

SubIndex 024

PDO Mapping entry no. 24 (object 0x6160 (DMC Inputs Ch.2), entry 0x28 (DMC__PositioningStatus__Ready to execute))

UINT32

RO

0x6160:28, 1

Index (hex)

Name

Meaning

Data type

Flags

Default

1AE0:19

SubIndex 025

PDO Mapping entry no. 25 (8 bits align)

UINT32

RO

0x0000:00, 8

1AE0:1A

SubIndex 026

PDO Mapping entry no. 26 (object 0x6160 (DMC Inputs Ch.2), entry 0x31 (DMC__Set position))

UINT32

RO

0x6160:31, 64

1AE0:1B

SubIndex 027

PDO Mapping entry no. 27 (object 0x6160 (DMC Inputs Ch.2), entry 0x32 (DMC__Set velocity))

UINT32

RO

0x6160:32, 16

1AE0:1C

SubIndex 028

PDO Mapping entry no. 28 (object 0x6160 (DMC Inputs Ch.2), entry 0x33 (DMC__Actual drive time))

UINT32

RO

0x6160:33, 32

1AE0:1D

SubIndex 029

PDO Mapping entry no. 29 (object 0x6160 (DMC Inputs Ch.2), entry 0x34 (DMC__Actual position lag))

UINT32

RO

0x6160:34, 64

1AE0:1E

SubIndex 030

PDO Mapping entry no. 30 (object 0x6160 (DMC Inputs Ch.2), entry 0x35 (DMC__Actual velocity))

UINT32

RO

0x6160:35, 16

1AE0:1F

SubIndex 031

PDO Mapping entry no. 31 (object 0x6160 (DMC Inputs Ch.2), entry 0x36 (DMC__Actual position))

UINT32

RO

0x6160:36, 64

1AE0:20

SubIndex 032

PDO Mapping entry no. 32 (object 0x6160 (DMC Inputs Ch.2), entry 0x37 (DMC__Error id))

UINT32

RO

0x6160:37, 32

1AE0:21

SubIndex 033

PDO Mapping entry no. 33 (object 0x6160 (DMC Inputs Ch.2), entry 0x38 (DMC__Input cycle counter))

UINT32

RO

0x6160:38, 8

1AE0:22

SubIndex 034

PDO Mapping entry no. 34 (object 0x6160 (DMC Inputs Ch.2), entry 0x39 (DMC__Channel id))

UINT32

RO

0x6160:39, 8

1AE0:23

SubIndex 035

PDO Mapping entry no. 35 (object 0x6160 (DMC Inputs Ch.2), entry 0x3A (DMC__Latch value))

UINT32

RO

0x6160:3A, 64

1AE0:24

SubIndex 036

PDO Mapping entry no. 36 (object 0x6160 (DMC Inputs Ch.2), entry 0x3B (DMC__Cyclic info data 1))

UINT32

RO

0x6160:3B, 16

1AE0:25

SubIndex 037

PDO Mapping entry no. 37 (object 0x6160 (DMC Inputs Ch.2), entry 0x3C (DMC__Cyclic info data 2))

UINT32

RO

0x6160:3C, 16

1AE0:26

SubIndex 038

PDO Mapping entry no. 38 (64 bits align)

UINT32

RO

0x0000:00, 64

Index 1AE1 DMC TxPDO-Map Inputs 32 Bit Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1AE1:0

DMC TxPDO-Map Inputs 32 Bit Ch.2

PDO Mapping TxPDO 226

UINT8

RO

0x2A (42dec))

1AE1:01

SubIndex 001

PDO Mapping entry no. 1 (1 bits align)

UINT32

RO

0x0000:00, 1

1AE1:02

SubIndex 002

PDO Mapping entry no. 2 (object 0x6160 (DMC Inputs Ch.2), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))

UINT32

RO

0x6160:02, 1

1AE1:03

SubIndex 003

PDO Mapping entry no. 3 (object 0x6160 (DMC Inputs Ch.2), entry 0x03 (DMC__FeedbackStatus__Set counter done))

UINT32

RO

0x6160:03, 1

1AE1:04

SubIndex 004

PDO Mapping entry no. 4 (9 bits align)

UINT32

RO

0x0000:00, 9

1AE1:05

SubIndex 005

PDO Mapping entry no. 5 (object 0x6160 (DMC Inputs Ch.2), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))

UINT32

RO

0x6160:0D, 1

1AE1:06

SubIndex 006

PDO Mapping entry no. 6 (3 bits align)

UINT32

RO

0x0000:00, 3

1AE1:07

SubIndex 007

PDO Mapping entry no. 7 (object 0x6160 (DMC Inputs Ch.2), entry 0x11 (DMC__DriveStatus__Ready to enable))

UINT32

RO

0x6160:11, 1

1AE1:08

SubIndex 008

PDO Mapping entry no. 8 (object 0x6160 (DMC Inputs Ch.2), entry 0x12 (DMC__DriveStatus__Ready))

UINT32

RO

0x6160:12, 1

1AE1:09

SubIndex 009

PDO Mapping entry no. 9 (object 0x6160 (DMC Inputs Ch.2), entry 0x13 (DMC__DriveStatus__Warning))

UINT32

RO

0x6160:13, 1

1AE1:0A

SubIndex 010

PDO Mapping entry no. 10 (object 0x6160 (DMC Inputs Ch.2), entry 0x14 (DMC__DriveStatus__Error))

UINT32

RO

0x6160:14, 1

1AE1:0B

SubIndex 011

PDO Mapping entry no. 11 (object 0x6160 (DMC Inputs Ch.2), entry 0x15 (DMC__DriveStatus__Moving positive))

UINT32

RO

0x6160:15, 1

1AE1:0C

SubIndex 012

PDO Mapping entry no. 12 (object 0x6160 (DMC Inputs Ch.2), entry 0x16 (DMC__DriveStatus__Moving negative))

UINT32

RO

0x6160:16, 1

1AE1:0D

SubIndex 013

PDO Mapping entry no. 13 (5 bits align)

UINT32

RO

0x0000:00, 5

1AE1:0E

SubIndex 014

PDO Mapping entry no. 14 (object 0x6160 (DMC Inputs Ch.2), entry 0x1C (DMC__DriveStatus__Digital input 1))

UINT32

RO

0x6160:1C, 1

1AE1:0F

SubIndex 015

PDO Mapping entry no. 15 (object 0x6160 (DMC Inputs Ch.2), entry 0x1D (DMC__DriveStatus__Digital input 2))

UINT32

RO

0x6160:1D, 1

1AE1:10

SubIndex 016

PDO Mapping entry no. 16 (3 bits align)

UINT32

RO

0x0000:00, 3

1AE1:11

SubIndex 017

PDO Mapping entry no. 17 (object 0x6160 (DMC Inputs Ch.2), entry 0x21 (DMC__PositioningStatus__Busy))

UINT32

RO

0x6160:21, 1

1AE1:12

SubIndex 018

PDO Mapping entry no. 18 (object 0x6160 (DMC Inputs Ch.2), entry 0x22 (DMC__PositioningStatus__In-Target))

UINT32

RO

0x6160:22, 1

1AE1:13

SubIndex 019

PDO Mapping entry no. 19 (object 0x6160 (DMC Inputs Ch.2), entry 0x23 (DMC__PositioningStatus__Warning))

UINT32

RO

0x6160:23, 1

1AE1:14

SubIndex 020

PDO Mapping entry no. 20 (object 0x6160 (DMC Inputs Ch.2), entry 0x24 (DMC__PositioningStatus__Error))

UINT32

RO

0x6160:24, 1

1AE1:15

SubIndex 021

PDO Mapping entry no. 21 (object 0x6160 (DMC Inputs Ch.2), entry 0x25 (DMC__PositioningStatus__Calibrated))

UINT32

RO

0x6160:25, 1

1AE1:16

SubIndex 022

PDO Mapping entry no. 22 (object 0x6160 (DMC Inputs Ch.2), entry 0x26 (DMC__PositioningStatus__Accelerate))

UINT32

RO

0x6160:26, 1

1AE1:17

SubIndex 023

PDO Mapping entry no. 23 (object 0x6160 (DMC Inputs Ch.2), entry 0x27 (DMC__PositioningStatus__Decelerate))

UINT32

RO

0x6160:27, 1

1AE1:18

SubIndex 024

PDO Mapping entry no. 24 (object 0x6160 (DMC Inputs Ch.2), entry 0x28 (DMC__PositioningStatus__Ready to execute))

UINT32

RO

0x6160:28, 1

Index (hex)

Name

Meaning

Data type

Flags

Default

1AE1:19

SubIndex 025

PDO Mapping entry no. 25 (8 bits align)

UINT32

RO

0x0000:00, 8

1AE1:1A

SubIndex 026

PDO Mapping entry no. 26 (object 0x6160 (DMC Inputs Ch.2), entry 0x31 (DMC__Set position))

UINT32

RO

0x6160:31, 32

1AE1:1B

SubIndex 027

PDO Mapping entry no. 27 (32 bits align)

UINT32

RO

0x0000:00, 32

1AE1:1C

SubIndex 028

PDO Mapping entry no. 28 (object 0x6160 (DMC Inputs Ch.2), entry 0x32 (DMC__Set velocity))

UINT32

RO

0x6160:32, 16

1AE1:1D

SubIndex 029

PDO Mapping entry no. 29 (object 0x6160 (DMC Inputs Ch.2), entry 0x33 (DMC__Actual drive time))

UINT32

RO

0x6160:33, 32

1AE1:1E

SubIndex 030

PDO Mapping entry no. 30 (object 0x6160 (DMC Inputs Ch.2), entry 0x34 (DMC__Actual position lag))

UINT32

RO

0x6160:34, 32

1AE1:1F

SubIndex 031

PDO Mapping entry no. 31 (32 bits align)

UINT32

RO

0x0000:00, 32

1AE1:20

SubIndex 032

PDO Mapping entry no. 32 (object 0x6160 (DMC Inputs Ch.2), entry 0x35 (DMC__Actual velocity))

UINT32

RO

0x6160:35, 16

1AE1:21

SubIndex 033

PDO Mapping entry no. 33 (object 0x6160 (DMC Inputs Ch.2), entry 0x36 (DMC__Actual position))

UINT32

RO

0x6160:36, 32

1AE1:22

SubIndex 034

PDO Mapping entry no. 34 (32 bits align)

UINT32

RO

0x0000:00, 32

1AE1:23

SubIndex 035

PDO Mapping entry no. 35 (object 0x6160 (DMC Inputs Ch.2), entry 0x37 (DMC__Error id))

UINT32

RO

0x6160:37, 32

1AE1:24

SubIndex 036

PDO Mapping entry no. 36 (object 0x6160 (DMC Inputs Ch.2), entry 0x38 (DMC__Input cycle counter))

UINT32

RO

0x6160:38, 8

1AE1:25

SubIndex 037

PDO Mapping entry no. 37 (object 0x6160 (DMC Inputs Ch.2), entry 0x39 (DMC__Channel id))

UINT32

RO

0x6160:39, 8

1AE1:26

SubIndex 038

PDO Mapping entry no. 38 (object 0x6160 (DMC Inputs Ch.2), entry 0x3A (DMC__Latch value))

UINT32

RO

0x6160:3A, 32

1AE1:27

SubIndex 039

PDO Mapping entry no. 39 (32 bits align)

UINT32

RO

0x0000:00, 32

1AE1:28

SubIndex 040

PDO Mapping entry no. 40 (object 0x6160 (DMC Inputs Ch.2), entry 0x3B (DMC__Cyclic info data 1))

UINT32

RO

0x6160:3B, 16

1AE1:29

SubIndex 041

PDO Mapping entry no. 41 (object 0x6160 (DMC Inputs Ch.2), entry 0x3C (DMC__Cyclic info data 2))

UINT32

RO

0x6160:3C, 16

1AE1:2A

SubIndex 042

PDO Mapping entry no. 42 (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

0x04 (4dec)

1C12:01

SubIndex 001

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

UINT16

RW

0x1600 (5632dec)

1C12:02

SubIndex 002

2nd assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1606 (5638dec)

1C12:03

SubIndex 003

3rd assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1680 (5760dec)

1C12:04

SubIndex 004

4th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1686 (5766dec)

1C12:05

SubIndex 005

5th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:06

SubIndex 006

6th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:07

SubIndex 007

7th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:08

SubIndex 008

8th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:09

SubIndex 009

9th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:0A

SubIndex 010

10th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:0B

SubIndex 011

11th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:0C

SubIndex 012

12th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:0D

SubIndex 013

13th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:0E

SubIndex 014

14th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:0F

SubIndex 015

15th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:10

SubIndex 016

16th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:11

SubIndex 017

17th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:12

SubIndex 018

18th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:13

SubIndex 019

19th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:14

SubIndex 020

20th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:15

SubIndex 021

21st assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:16

SubIndex 022

22nd assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:17

SubIndex 023

23rd assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:18

SubIndex 024

24th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:19

SubIndex 025

25th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:1A

SubIndex 026

26th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:1B

SubIndex 027

27th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:1C

SubIndex 028

28th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:1D

SubIndex 029

29th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C12:1E

SubIndex 030

30th assigned RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x0000 (0dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x06 (6dec)

1C13:01

SubIndex 001

1st assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A00 (6656dec)

1C13:02

SubIndex 002

2nd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A01 (6657dec)

1C13:03

SubIndex 003

3rd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A06 (6662dec)

1C13:04

SubIndex 004

4th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A80 (6784dec)

1C13:05

SubIndex 005

5th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A81 (6785dec)

1C13:06

SubIndex 006

6th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x1A86 (6790dec)

1C13:07

SubIndex 007

7th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:08

SubIndex 008

8th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:09

SubIndex 009

9th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:0A

SubIndex 010

10th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:0B

SubIndex 011

11th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:0C

SubIndex 012

12th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:0D

SubIndex 013

13th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:0E

SubIndex 014

14th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:0F

SubIndex 015

15th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:10

SubIndex 016

16th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:11

SubIndex 017

17th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:12

SubIndex 018

18th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:13

SubIndex 019

19th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:14

SubIndex 020

20th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:15

SubIndex 021

21st assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:16

SubIndex 022

22nd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:17

SubIndex 023

23rd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:18

SubIndex 024

24th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:19

SubIndex 025

25th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:1A

SubIndex 026

26th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:1B

SubIndex 027

27th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:1C

SubIndex 028

28th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:1D

SubIndex 029

29th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:1E

SubIndex 030

30th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:1F

SubIndex 031

31st assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:20

SubIndex 032

32nd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:21

SubIndex 033

33rd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:22

SubIndex 034

34th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:23

SubIndex 035

35th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:24

SubIndex 036

36th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:25

SubIndex 037

37th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:26

SubIndex 038

38th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:27

SubIndex 039

39th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:28

SubIndex 040

40th assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:29

SubIndex 041

41st assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:2A

SubIndex 042

42nd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:2B

SubIndex 043

43rd assigned TxPDO (contains the index of the associated TxPDO mapping object)

UINT16

RW

0x0000 (0dec)

1C13:2C

SubIndex 044

44th assigned 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: Synchronous with SM 2 Event
  • 2: DC-Mode - synchronous with SYNC0 Event
  • 3: DC-Mode - synchronous with SYNC1 Event

UINT16

RW

0x0003 (3dec)

1C32:02

Cycle time

Cycle time (in ns):

  • Free Run: cycle time of the local timer
  • Synchronous with SM 2 Event: cycle time of the master
  • 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: Synchronization with SM 2 Event is supported
  • Bit 2-3 = 01: DC mode is supported
  • Bit 4-5 = 10: Output Shift with SYNC1 Event (DC mode only)
  • Bit 14 = 1: dynamic times (measurement through writing of 1C32:08)
  • )

UINT16

RO

0x0812 (2066dec)

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

0x00007530 (30000dec)

1C32:07

Minimum delay time

 

UINT32

RO

0x00007A12 (31250dec)

1C32:08

Get Cycle Time

 

  • 0: Measurement of the local cycle time is stopped
  • 1: Measurement of the local cycle time is started

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

0x00007A12 (31250dec)

1C32:0A

Sync0 Cycle Time

 

UINT32

RO

0x0000F424 (62500dec)

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 intervals between SYNC0 and SYNC1 events that are 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: Synchronous with SM 3 Event (no outputs available)
  • 2: DC - Synchronous with SYNC0 Event
  • 3: DC - Synchronous with SYNC1 Event
  • 34: Synchronous with SM 2 Event (outputs available)

UINT16

RW

0x0003 (3dec)

1C33:02

Cycle time

as 1C32:02

UINT32

RW

0x000F4240 (1000000dec)

1C33:03

Shift time

Time between SYNC0 event and reading of the inputs (in ns, DC Mode only)

UINT32

RO

0x00000000 (0dec)

1C33:04

Sync modes supported

Supported synchronization modes:

  • Bit 0: Free Run is supported
  • Bit 1: Synchronization with SM 2 Event is supported (outputs available)
  • Bit 1: Synchronization 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 1C32:08 or 1C33:08)
  • )

UINT16

RO

0x0012 (18dec)

1C33:05

Minimum cycle time

as 1C32:05

UINT32

RO

0x0001E848 (125000dec)

1C33:06

Calc and copy time

Time between reading of the inputs and the inputs being available for the master (in ns, DC Mode only)

UINT32

RO

0x00007530 (30000dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00007A12 (31250dec)

1C33:08

Get Cycle Time

as 1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

Maximum delay time

Time between SYNC1 event and reading of the inputs (in ns, DC Mode only)

UINT32

RO

0x00007A12 (31250dec)

1C33:0A

Sync0 Cycle Time

 

UINT32

RO

0x0000F424 (62500dec)

1C33:0B

SM event missed counter

as 1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 1C32:32

BOOLEAN

RO

0x00 (0dec)