Standard objects

1000:0

Device type

Device type of the EtherCAT slave:

• The Lo-Word contains the CoE profile used (5001).
• The Hi-Word contains the module profile according to the modular device profile.

UINT32

RO

0x20DE1389 (48108425_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EJ7334

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

100B:0

Bootloader version

Bootloader version

STRING

RO

1018:0

Identity

Information for identifying the slave

UINT8

RO

0x04 (4_dec)

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

0x00000002 (2_dec)

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

0x1CA62852 (480651346_dec)

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 (0_dec)

1018:04

Serial number

Serial number of the EtherCAT slave;

• Low word
• 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 (0_dec)

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

0x01 (1_dec)

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0_dec)

10F3:0

Diagnosis History

Max. Subindex

UINT8

RO

0x15 (21_dec)

10F3:01

Maximum Messages

Maximum number of stored messages.
A maximum of 16 messages can be stored

UINT32

RO

0x00000000 0_dec)

10F3:02

Newest Message

Subindex of the latest message

UINT8

RO

0x00 0_dec)

10F3:03

Newest Acknowledged Message

Subindex of the last confirmed message

UINT8

RO

0x00 (0_dec)

10F3:04

New Message available

Indicates that a new message is available

BOOLEAN

RO

0x00 (0_dec)

10F3:05

Flags

not used

UINT16

RO

0x0000 (0_dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET-STRING[20]

RO

{0}

…

…

…

…

…

…

10F3:015

Diagnosis Message 016

Message 16

OCTET-STRING[20]

RO

{0}

10F8:0

Actual Time Stamp

Timestamp

UINT64

RO

160n:0

DCM RxPDO-Map Outputs Ch.(n+1)

PDO Mapping RxPDO 1

UINT8

RO

0x04 (4_dec)

160n:01

SubIndex 001

1. PDO Mapping entry (object 0x70n0 (DCM Outputs Ch.(n+1), entry 0x01 (Enable))

UINT32

RO

0x70n0:01, 1

160n:02

SubIndex 002

2. PDO Mapping entry (object 0x70n0 (DCM Outputs Ch.(n+1), entry 0x02 (Reset))

UINT32

RO

0x70n0:02, 1

160n:03

SubIndex 003

3. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

160n:04

SubIndex 004

4. PDO Mapping entry (object 0x70n0 (DCM Outputs Ch.(n+1), entry 0x21 (Velocity))

UINT32

RO

0x70n0:21, 16

1A00:0

DCM TxPDO-Map Status Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x10 (16_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x01 (Ready to enable))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x02 (Ready))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x03 (Warning))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x04 (Error))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x05 (Moving positive))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x06 (Moving negative))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x08 (Limit))

UINT32

RO

0x6000:08, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6000:10, 1

1A01:0

DCM TxPDO-Map Synchron info data Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x02 (2_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x11 (info data1))

UINT32

RO

0x6000:11, 16

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DCM Inputs Ch.1), entry 0x12 (info data 2))

UINT32

RO

0x6000:12, 16

1A02:0

DCM TxPDO-Map Status Ch.2

PDO Mapping TxPDO 3

UINT8

RO

0x0A (10_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x01 (Ready to enable))

UINT32

RO

0x6010:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x02 (Ready))

UINT32

RO

0x6010:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x03 (Warning))

UINT32

RO

0x6010:03, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x04 (Error))

UINT32

RO

0x6010:04, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x05 (Moving positive))

UINT32

RO

0x6010:05, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x06 (Moving negative))

UINT32

RO

0x6010:06, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x08 (Limit))

UINT32

RO

0x6010:08, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6010:10, 1

1A03:0

DCM TxPDO-Map Synchron info data Ch.2

PDO Mapping TxPDO 4

UINT8

RO

0x02 (2_dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x11 (Info data 1))

UINT32

RO

0x6010:11, 16

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DCM Inputs Ch.2), entry 0x12 (Info data 2))

UINT32

RO

0x6010:12, 16

1A04:0

DCM TxPDO-Map Status Ch.3

PDO Mapping TxPDO 5

UINT8

RO

0x0A (10_dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x01 (Ready to enable))

UINT32

RO

0x6020:01, 1

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x02 (Ready))

UINT32

RO

0x6020:02, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x03 (Warning))

UINT32

RO

0x6020:03, 1

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x04 (Error))

UINT32

RO

0x6020:04, 1

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x05 (Moving positive))

UINT32

RO

0x6020:05, 1

1A04:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x06 (Moving negative))

UINT32

RO

0x6020:06, 1

1A04:07

SubIndex 007

7. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A04:08

SubIndex 008

8. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x08 (Limit))

UINT32

RO

0x6020:08, 1

1A04:09

SubIndex 009

9. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A04:0A

SubIndex 010

10. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6020:10, 1

1A05:0

DCM TxPDO-Map Synchron info data Ch.3

PDO Mapping TxPDO 6

UINT8

RO

0x02 (2_dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x11 (Info data 1))

UINT32

RO

0x6020:11, 16

1A05:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (DCM Inputs Ch.3), entry 0x12 (Info data 2))

UINT32

RO

0x6020:12, 16

1A06:0

DCM TxPDO-Map Status Ch.4

PDO Mapping TxPDO 7

UINT8

RO

0x0A (10_dec)

1A06:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x01 (Ready to enable))

UINT32

RO

0x6030:01, 1

1A06:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x02 (Ready))

UINT32

RO

0x6030:02, 1

1A06:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x03 (Warning))

UINT32

RO

0x6030:03, 1

1A06:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x04 (Error))

UINT32

RO

0x6030:04, 1

1A06:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x05 (Moving positive))

UINT32

RO

0x6030:05, 1

1A06:06

SubIndex 006

6. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x06 (Moving negative))

UINT32

RO

0x6030:06, 1

1A06:07

SubIndex 007

7. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A06:08

SubIndex 008

8. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x08 (Limit))

UINT32

RO

0x6030:08, 1

1A06:09

SubIndex 009

9. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A06:0A

SubIndex 010

10. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6030:10, 1

1A07:0

DCM TxPDO-Map Synchron info data Ch.4

PDO Mapping TxPDO 8

UINT8

RO

0x02 (2_dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x11 (Info data 1))

UINT32

RO

0x6030:11, 16

1A07:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (DCM Inputs Ch.4), entry 0x12 (Info data 2))

UINT32

RO

0x6030:12, 16

1A08:0

DCM TxPDO-Map Status Ch.5

PDO Mapping TxPDO 9

UINT8

RO

0x0A (10_dec)

1A08:01

SubIndex 001

1. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x01 (Ready to enable))

UINT32

RO

0x6040:01, 1

1A08:02

SubIndex 002

2. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x02 (Ready))

UINT32

RO

0x6040:02, 1

1A08:03

SubIndex 003

3. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x03 (Warning))

UINT32

RO

0x6040:03, 1

1A08:04

SubIndex 004

4. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x04 (Error))

UINT32

RO

0x6040:04, 1

1A08:05

SubIndex 005

5. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x05 (Moving positive))

UINT32

RO

0x6040:05, 1

1A08:06

SubIndex 006

6. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x06 (Moving negative))

UINT32

RO

0x6040:06, 1

1A08:07

SubIndex 007

7. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A08:08

SubIndex 008

8. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x08 (Limit))

UINT32

RO

0x6040:08, 1

1A08:09

SubIndex 009

9. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A08:0A

SubIndex 010

10. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6040:10, 1

1A09:0

DCM TxPDO-Map Synchron info data Ch.5

PDO Mapping TxPDO 10

UINT8

RO

0x02 (2_dec)

1A09:01

SubIndex 001

1. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x11 (Info data 1))

UINT32

RO

0x6040:11, 16

1A09:02

SubIndex 002

2. PDO Mapping entry (object 0x6040 (DCM Inputs Ch.5), entry 0x12 (Info data 2))

UINT32

RO

0x6040:12, 16

1A0A:0

DCM TxPDO-Map Status Ch.6

PDO Mapping TxPDO 11

UINT8

RO

0x0A (10_dec)

1A0A:01

SubIndex 001

1. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x01 (Ready to enable))

UINT32

RO

0x6050:01, 1

1A0A:02

SubIndex 002

2. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x02 (Ready))

UINT32

RO

0x6050:02, 1

1A0A:03

SubIndex 003

3. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x03 (Warning))

UINT32

RO

0x6050:03, 1

1A0A:04

SubIndex 004

4. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x04 (Error))

UINT32

RO

0x6050:04, 1

1A0A:05

SubIndex 005

5. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x05 (Moving positive))

UINT32

RO

0x6050:05, 1

1A0A:06

SubIndex 006

6. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x06 (Moving negative))

UINT32

RO

0x6050:06, 1

1A0A:07

SubIndex 007

7. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A0A:08

SubIndex 008

8. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x08 (Limit))

UINT32

RO

0x6050:08, 1

1A0A:09

SubIndex 009

9. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A0A:0A

SubIndex 010

10. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6050:10, 1

1A0B:0

DCM TxPDO-Map Synchron info data Ch.6

PDO Mapping TxPDO 12

UINT8

RO

0x02 (2_dec)

1A0B:01

SubIndex 001

1. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x11 (Info data 1))

UINT32

RO

0x6050:11, 16

1A0B:02

SubIndex 002

2. PDO Mapping entry (object 0x6050 (DCM Inputs Ch.6), entry 0x12 (Info data 2))

UINT32

RO

0x6050:12, 16

1A0C:0

DCM TxPDO-Map Status Ch.7

PDO Mapping TxPDO 13

UINT8

RO

0x0A (10_dec)

1A0C:01

SubIndex 001

1. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x01 (Ready to enable))

UINT32

RO

0x6060:01, 1

1A0C:02

SubIndex 002

2. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x02 (Ready))

UINT32

RO

0x6060:02, 1

1A0C:03

SubIndex 003

3. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x03 (Warning))

UINT32

RO

0x6060:03, 1

1A0C:04

SubIndex 004

4. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x04 (Error))

UINT32

RO

0x6060:04, 1

1A0C:05

SubIndex 005

5. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x05 (Moving positive))

UINT32

RO

0x6060:05, 1

1A0C:06

SubIndex 006

6. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x06 (Moving negative))

UINT32

RO

0x6060:06, 1

1A0C:07

SubIndex 007

7. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A0C:08

SubIndex 008

8. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x08 (Limit))

UINT32

RO

0x6060:08, 1

1A0C:09

SubIndex 009

9. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A0C:0A

SubIndex 010

10. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6060:10, 1

1A0D:0

DCM TxPDO-Map Synchron info data Ch.7

PDO Mapping TxPDO 14

UINT8

RO

0x02 (2_dec)

1A0D:01

SubIndex 001

1. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x11 (Info data 1))

UINT32

RO

0x6060:11, 16

1A0D:02

SubIndex 002

2. PDO Mapping entry (object 0x6060 (DCM Inputs Ch.7), entry 0x12 (Info data 2))

UINT32

RO

0x6060:12, 16

1A0E:0

DCM TxPDO-Map Status Ch.7

PDO Mapping TxPDO 15

UINT8

RO

0x0A (10_dec)

1A0E:01

SubIndex 001

1. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x01 (Ready to enable))

UINT32

RO

0x6070:01, 1

1A0E:02

SubIndex 002

2. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x02 (Ready))

UINT32

RO

0x6070:02, 1

1A0E:03

SubIndex 003

3. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x03 (Warning))

UINT32

RO

0x6070:03, 1

1A0E:04

SubIndex 004

4. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x04 (Error))

UINT32

RO

0x6070:04, 1

1A0E:05

SubIndex 005

5. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x05 (Moving positive))

UINT32

RO

0x6070:05, 1

1A0E:06

SubIndex 006

6. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x06 (Moving negative))

UINT32

RO

0x6070:06, 1

1A0E:07

SubIndex 007

7. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A0E:08

SubIndex 008

8. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x08 (Limit))

UINT32

RO

0x6070:08, 1

1A0E:09

SubIndex 009

9. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A0E:0A

SubIndex 010

10. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6070:10, 1

1A0F:0

DCM TxPDO-Map Synchron info data Ch.8

PDO Mapping TxPDO 16

UINT8

RO

0x02 (2_dec)

1A0F:01

SubIndex 001

1. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x11 (Info data 1))

UINT32

RO

0x6070:11, 16

1A0F:02

SubIndex 002

2. PDO Mapping entry (object 0x6070 (DCM Inputs Ch.8), entry 0x12 (Info data 2))

UINT32

RO

0x6070:12, 16

1C00:0

Sync manager type

Using the Sync Managers

UINT8

RO

0x04 (4_dec)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1_dec)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2_dec)

1C00:03

SubIndex 003

Sync-Manager Type Channel 3: Process Data Write (Outputs)

UINT8

RO

0x03 (3_dec)

1C00:04

SubIndex 004

Sync-Manager Type Channel 4: Process Data Read (Inputs)

UINT8

RO

0x04 (4_dec)

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x08 (8_dec)

1C12:01

SubIndex 001

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

UINT16

RW

0x1600 (5632_dec)

1C12:02

SubIndex 002

2. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1601 (5633_dec)

1C12:03

SubIndex 003

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

UINT16

RW

0x1602 (5634_dec)

1C12:04

SubIndex 004

4. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1603 (5635_dec)

1C12:05

SubIndex 005

5. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1604 (5636_dec)

1C12:06

SubIndex 006

6. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1605 (5637_dec)

1C12:07

SubIndex 007

7. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1606 (5638_dec)

1C12:08

SubIndex 008

8. allocated RxPDO (contains the index of the associated RxPDO mapping object)

UINT16

RW

0x1607 (5639_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x08 (8_dec)

1C13:01

SubIndex 001

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

UINT16

RW

0x1A00 (6656_dec)

1C13:02

SubIndex 002

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

UINT16

RW

0x1A02 (6658_dec)

1C13:03

SubIndex 003

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

UINT16

RW

0x1A04 (6660_dec)

1C13:04

SubIndex 004

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

UINT16

RW

0x1A06 (6662_dec)

1C13:05

SubIndex 005

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

UINT16

RW

0x1A08 (6664_dec)

1C13:06

SubIndex 006

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

UINT16

RW

0x1A0A (6666_dec)

1C13:07

SubIndex 007

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

UINT16

RW

0x1A0C (6668_dec)

1C13:08

SubIndex 008

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

UINT16

RW

0x1A0E (6670_dec)

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

0x20 (32_dec)

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

0x0001 (1_dec)

1C32:02

Cycle time

Cycle time (in ns):

• “Free Run”: Cycle time of the local timer
• “Synchron with SM 2 Event”: Master cycle time
• “DC mode”: SYNC0/SYNC1 Cycle time

UINT32

RW

0x000F4240 (1000000_dec)

1C32:03

Shift time

Time between SYNC0 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C32:04

Sync modes supported

Supported synchronization modes:

• Bit 0 = 1: “Free Run” is supported
• Bit 1 = 1: “Synchron with SM 2 event” is supported
• Bit 2-3 = 01: “DC mode” is supported
• Bit 4-5 = 10: Output shift with SYNC1 event (DC mode only)
• Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08)

UINT16

RO

0x0002 (2_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000_dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0_dec)

1C32:07

Minimum delay time

Minimum time between SYNC1 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C32:08

Command

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

The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset.

UINT16

RW

0x0000 (0_dec)

1C32:09

Maximum delay time

Time between SYNC1 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C32:0B

SM event missed counter

Number of missed SM events in OPERATIONAL (DC mode only)

UINT16

RO

0x0000 (0_dec)

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 (0_dec)

1C32:0D

Shift too short counter

Number of occasions that the interval between SYNC0 and SYNC1 event was too short (DC mode only).

UINT16

RO

0x0000 (0_dec)

1C32:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC mode only).

BOOLEAN

RO

0x00 (0_dec)

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

0x20 (32_dec)

1C33:01

Sync mode

Current synchronization mode:

• 0: “Free Run”
• 1: “Synchron with SM 3 Event (no outputs available)
• 2: “DC - Synchron with SYNC0 Event”
• 3: “DC - Synchron with SYNC1 Event”
• 34: “Synchron with SM 2 Event” (outputs available)

UINT16

RW

0x0022 (34_dec)

1C33:02

Cycle time

Cycle time (in ns):

• “Free Run”: Cycle time of the local timer
• “Synchron with SM 2 Event”: Master cycle time
• “DC mode”: SYNC0/SYNC1 Cycle time

UINT32

RW

0x000F4240 (1000000_dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0_dec)

1C33:04

Sync modes supported

Supported synchronization modes:

• Bit 0: “Free Run” is supported
• Bit 1: “Synchronous with SM 2 Event” is supported (outputs available)
• Bit 1: “Synchronous with SM 3 Event” is supported (no outputs available)
• Bit 2-3 = 01: “DC mode” is supported
• Bit 4-5 = 01: input shift through local event (outputs available)
• Bit 4-5 = 10: input shift with SYNC1 event (no outputs available)
• Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08 or 0x1C33:08)

UINT16

RO

0x0002 (2_dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000_dec)

1C33:06

Calc and copy time

Time between reading of the inputs and availability of the inputs for the master (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C33:07

Minimum delay time

Minimum time between Sync-1 Event and reading of the inputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C33:08

Command

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

The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset.

UINT16

RW

0x0000 (0_dec)

1C33:09

Maximum delay time

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

UINT32

RO

0x00000000 (0_dec)

1C33:0B

SM event missed counter

Number of missed SM events in OPERATIONAL (DC mode only)

UINT16

RO

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

Number of occasions the cycle time was exceeded in OPERATIONAL (cycle was not completed in time or the next cycle began too early)

UINT16

RO

0x0000 (0_dec)

1C33:0D

Shift too short counter

Number of occasions that the interval between SYNC0 and SYNC1 event was too short (DC mode only)

UINT16

RO

0x0000 (0_dec)

1C33:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC mode only)

BOOLEAN

RO

0x00 (0_dec)

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2_dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0008 (8_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)