Standard objects

Index 1000 Device type

Index (hex)

Name

Meaning

Data type

Flags

Default

1000:0

Device type

Device type of the EtherCAT slave:

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

UINT32

RO

0x20DE1389 (48108425dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EJ7334

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

Index 100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100B:0

Bootloader version

Bootloader version

STRING

RO

 

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

0x1CA62852 (480651346dec)

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;

  • 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 (0dec)

Index 10F0 Backup parameter handling

Index (hex)

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

0x01 (1dec)

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0dec)

Index 10F3 Diagnosis History

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis History

Max. Subindex

UINT8

RO

0x15 (21dec)

10F3:01

Maximum Messages

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

UINT32

RO

0x00000000 0dec)

10F3:02

Newest Message

Subindex of the latest message

UINT8

RO

0x00 0dec)

10F3:03

Newest Acknowledged Message

Subindex of the last confirmed message

UINT8

RO

0x00 (0dec)

10F3:04

New Message available

Indicates that a new message is available

BOOLEAN

RO

0x00 (0dec)

10F3:05

Flags

not used

UINT16

RO

0x0000 (0dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET-STRING[20]

RO

{0}

10F3:015

Diagnosis Message 016

Message 16

OCTET-STRING[20]

RO

{0}

Index 10F8 Actual Time Stamp

Index (hex)

Name

Meaning

Data type

Flags

Default

10F8:0

Actual Time Stamp

Timestamp

UINT64

RO

 

Index 160n DCM RxPDO-Map Outputs Ch.1 (n = 0) to Ch.8 (n = 7)

Index (hex)

Name

Meaning

Data type

Flags

Default

160n:0

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

PDO Mapping RxPDO 1

UINT8

RO

0x04 (4dec)

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

Index 1A00 DCM TxPDO-Map Status Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

DCM TxPDO-Map Status Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x10 (16dec)

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

Index 1A01 DCM TxPDO-Map Synchron info data Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

DCM TxPDO-Map Synchron info data Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x02 (2dec)

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

Index 1A02 DCM TxPDO-Map Status Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

DCM TxPDO-Map Status Ch.2

PDO Mapping TxPDO 3

UINT8

RO

0x0A (10dec)

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

Index 1A03 DCM TxPDO-Map Synchron info data Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

DCM TxPDO-Map Synchron info data Ch.2

PDO Mapping TxPDO 4

UINT8

RO

0x02 (2dec)

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

Index 1A04 DCM TxPDO-Map Status Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

DCM TxPDO-Map Status Ch.3

PDO Mapping TxPDO 5

UINT8

RO

0x0A (10dec)

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

Index 1A05 DCM TxPDO-Map Synchron info data Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

DCM TxPDO-Map Synchron info data Ch.3

PDO Mapping TxPDO 6

UINT8

RO

0x02 (2dec)

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

Index 1A06 DCM TxPDO-Map Status Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

DCM TxPDO-Map Status Ch.4

PDO Mapping TxPDO 7

UINT8

RO

0x0A (10dec)

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

Index 1A07 DCM TxPDO-Map Synchron info data Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

DCM TxPDO-Map Synchron info data Ch.4

PDO Mapping TxPDO 8

UINT8

RO

0x02 (2dec)

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

Index 1A08 DCM TxPDO-Map Status Ch.5

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

DCM TxPDO-Map Status Ch.5

PDO Mapping TxPDO 9

UINT8

RO

0x0A (10dec)

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

Index 1A09 DCM TxPDO-Map Synchron info data Ch.5

Index (hex)

Name

Meaning

Data type

Flags

Default

1A09:0

DCM TxPDO-Map Synchron info data Ch.5

PDO Mapping TxPDO 10

UINT8

RO

0x02 (2dec)

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

Index 1A0A DCM TxPDO-Map Status Ch.6

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0A:0

DCM TxPDO-Map Status Ch.6

PDO Mapping TxPDO 11

UINT8

RO

0x0A (10dec)

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

Index 1A0B DCM TxPDO-Map Synchron info data Ch.6

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0B:0

DCM TxPDO-Map Synchron info data Ch.6

PDO Mapping TxPDO 12

UINT8

RO

0x02 (2dec)

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

Index 1A0C DCM TxPDO-Map Status Ch.7

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0C:0

DCM TxPDO-Map Status Ch.7

PDO Mapping TxPDO 13

UINT8

RO

0x0A (10dec)

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

Index 1A0D DCM TxPDO-Map Synchron info data Ch.7

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0D:0

DCM TxPDO-Map Synchron info data Ch.7

PDO Mapping TxPDO 14

UINT8

RO

0x02 (2dec)

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

Index 1A0E DCM TxPDO-Map Status Ch.8

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0E:0

DCM TxPDO-Map Status Ch.7

PDO Mapping TxPDO 15

UINT8

RO

0x0A (10dec)

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

Index 1A0F DCM TxPDO-Map Synchron info data Ch.8

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0F:0

DCM TxPDO-Map Synchron info data Ch.8

PDO Mapping TxPDO 16

UINT8

RO

0x02 (2dec)

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

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

0x08 (8dec)

1C12:01

SubIndex 001

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

UINT16

RW

0x1600 (5632dec)

1C12:02

SubIndex 002

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

UINT16

RW

0x1601 (5633dec)

1C12:03

SubIndex 003

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

UINT16

RW

0x1602 (5634dec)

1C12:04

SubIndex 004

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

UINT16

RW

0x1603 (5635dec)

1C12:05

SubIndex 005

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

UINT16

RW

0x1604 (5636dec)

1C12:06

SubIndex 006

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

UINT16

RW

0x1605 (5637dec)

1C12:07

SubIndex 007

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

UINT16

RW

0x1606 (5638dec)

1C12:08

SubIndex 008

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

UINT16

RW

0x1607 (5639dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x08 (8dec)

1C13:01

SubIndex 001

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

UINT16

RW

0x1A00 (6656dec)

1C13:02

SubIndex 002

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

UINT16

RW

0x1A02 (6658dec)

1C13:03

SubIndex 003

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

UINT16

RW

0x1A04 (6660dec)

1C13:04

SubIndex 004

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

UINT16

RW

0x1A06 (6662dec)

1C13:05

SubIndex 005

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

UINT16

RW

0x1A08 (6664dec)

1C13:06

SubIndex 006

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

UINT16

RW

0x1A0A (6666dec)

1C13:07

SubIndex 007

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

UINT16

RW

0x1A0C (6668dec)

1C13:08

SubIndex 008

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

UINT16

RW

0x1A0E (6670dec)

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

0x0001 (1dec)

1C32:02

Cycle time

Cycle time (in ns):

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

UINT32

RW

0x000F4240 (1000000dec)

1C32:03

Shift time

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

UINT32

RO

0x00000000 (0dec)

1C32:04

Sync modes supported

Supported synchronization modes:

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

UINT16

RO

0x0002 (2dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C32:07

Minimum delay time

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

UINT32

RO

0x00000000 (0dec)

1C32:08

Command

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

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

UINT16

RW

0x0000 (0dec)

1C32:09

Maximum delay time

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

UINT32

RO

0x00000000 (0dec)

1C32:0B

SM event missed counter

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

UINT16

RO

0x0000 (0dec)

1C32:0C

Cycle exceeded counter

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

UINT16

RO

0x0000 (0dec)

1C32:0D

Shift too short counter

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

UINT16

RO

0x0000 (0dec)

1C32:20

Sync error

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

BOOLEAN

RO

0x00 (0dec)

Index 1C33 SM input parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

0x20 (32dec)

1C33:01

Sync mode

Current synchronization mode:

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

UINT16

RW

0x0022 (34dec)

1C33:02

Cycle time

Cycle time (in ns):

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

UINT32

RW

0x000F4240 (1000000dec)

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: “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 (2dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000dec)

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 (0dec)

1C33:07

Minimum delay time

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

UINT32

RO

0x00000000 (0dec)

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 (0dec)

1C33:09

Maximum delay time

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

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

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

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

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

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

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

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

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

BOOLEAN

RO

0x00 (0dec)

Index F000 Modular device profile

Index (hex)

Name

Meaning

Data type

Flags

Default

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0008 (8dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0dec)