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

0x00001389 (5001_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EJ7411

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

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

0x1CF32852 (485697618_dec)

1018:03

Revision

Revision number of the EtherCAT slave; the Low Word (bit 0-15) indicates the special device number, the High Word (bit 16-31) refers to the device description

UINT32

RO

0x00000000 (0_dec)

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 (0_dec)

10E2:0

Manufacturer-specific identification code

UINT8

RO

0x01 (1_dec)

10E2:01

SubIndex 001

STRING

RO

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

Maximum subindex

UINT8

RO

0x37 (55_dec)

10F3:01

Maximum Messages

Maximum number of stored messages. A maximum of 50 messages can be stored

UINT8

RO

0x00 (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

RW

0x00 (0_dec)

10F3:04

New Messages Available

Indicates that a new message is available

BOOLEAN

RO

0x00 (0_dec)

10F3:05

Flags

not used

UINT16

RW

0x0000 (0_dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET-STRING[28]

RO

{0}

...

...

...

...

...

...

10F3:37

Diagnosis Message 050

Message 50

OCTET-STRING[28]

RO

{0}

10F8:0

Actual Time Stamp

Timestamp

UINT64

RO

1600:0

DRV RxPDO-map control word

PDO Mapping RxPDO 1

UINT8

RO

0x01 (1_dec)

1600:01

SubIndex 001

1. PDO mapping entry (object 0x7010 (DRV outputs), entry 0x01 (control word))

UINT32

RO

0x7010:01, 16

1601:0

DRV RxPDO-map target velocity

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1_dec)

1601:01

SubIndex 001

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

UINT32

RO

0x7010:06, 32

1602:0

DRV RxPDO-Map Target torque

PDO Mapping RxPDO 3

UINT8

RO

0x01 (1_dec)

1602:01

SubIndex 001

1. PDO mapping entry (object 0x7010 (DRV outputs), entry 0x09 (target torque))

UINT32

RO

0x7010:09, 16

1603:0

DRV RxPDO-map commutation angle

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1_dec)

1603:01

SubIndex 001

1. PDO mapping entry (object 0x7010 (DRV outputs), entry 0x0E (commutation angle))

UINT32

RO

0x7010:0E, 16

1604:0

DRV RxPDO-map torque limitation

PDO Mapping RxPDO 5

UINT8

RO

0x01 (1_dec)

1604:01

SubIndex 001

1. PDO mapping entry (object 0x7010 (DRV outputs), entry 0x0B (torque limitation))

UINT32

RO

0x7010:0B, 16

1606:0

DRV RxPDO-Map Target position

PDO Mapping RxPDO 7

UINT8

RO

0x01 (1_dec)

1606:01

SubIndex 001

1. PDO mapping entry (object 0x7010 (DRV outputs), entry 0x05 (target position))

UINT32

RO

0x7010:05, 32

1607:0

FB RxPDO-Map Touch probe control

PDO Mapping RxPDO 8

UINT8

RO

0x0C (12_dec)

1607:01

SubIndex 001

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

UINT32

RO

0x7001:01, 1

1607:02

SubIndex 002

2. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x02 (TP1 Continous))

UINT32

RO

0x7001:02, 1

1607:03

SubIndex 003

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

UINT32

RO

0x7001:03, 2

1607:04

SubIndex 004

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

UINT32

RO

0x7001:05, 1

1607:05

SubIndex 005

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

UINT32

RO

0x7001:06, 1

1607:06

SubIndex 006

6. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1607:07

SubIndex 007

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

UINT32

RO

0x7001:09, 1

1607:08

SubIndex 008

8. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x0A (TP2 Continous))

UINT32

RO

0x7001:0A, 1

1607:09

SubIndex 009

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

UINT32

RO

0x7001:0B, 2

1607:0A

SubIndex 010

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

UINT32

RO

0x7001:0D, 1

1607:0B

SubIndex 011

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

UINT32

RO

0x7001:0E, 1

1607:0C

SubIndex 012

12. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1640:0

DMC RxPDO-Map Outputs

DMC RxPDO-Map Outputs

UINT8

RO

0x12 (18_dec)

1640:01

SubIndex 001

1. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1640:02

SubIndex 002

2. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x02 (DMC_FeedbackControl__Enable latch extern on positive edge))

UINT32

RO

0x7040:02, 1

1640:03

SubIndex 003

3. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x03 (DMC_FeedbackControl__Set counter))

UINT32

RO

0x7040:03, 1

1640:04

SubIndex 004

4. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))

UINT32

RO

0x7040:04, 1

1640:05

SubIndex 005

5. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1640:06

SubIndex 006

6. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x11 (DMC__DriveControl__Enable))

UINT32

RO

0x7040:11, 1

1640:07

SubIndex 007

7. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x12 (DMC__DriveControl__Reset))

UINT32

RO

0x7040:12, 1

1640:08

SubIndex 008

8. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1640:09

SubIndex 009

9. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x21 (DMC__PositioningControl__Execute))

UINT32

RO

0x7040:21, 1

1640:0A

SubIndex 010

10. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x22 (DMC__PositioningControl__Emergency stop))

UINT32

RO

0x7040:22, 1

1640:0B

SubIndex 011

11. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1640:0C

SubIndex 012

12. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x31 (DMC__Set counter value))

UINT32

RO

0x7040:31, 64

1640:0D

SubIndex 013

13. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x32 (DMC__Target position))

UINT32

RO

0x7040:32, 64

1640:0E

SubIndex 014

14. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x33 (DMC__Target velocity))

UINT32

RO

0x7040:33, 16

1640:0F

SubIndex 015

15. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x34 (DMC__Start type))

UINT32

RO

0x7040:34, 16

1640:10

SubIndex 016

16. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x35 (DMC__Target acceleration))

UINT32

RO

0x7040:35, 16

1640:11

SubIndex 017

17. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x36 (DMC__Target deceleration))

UINT32

RO

0x7040:36, 16

1640:12

SubIndex 018

18. PDO Mapping entry (80 bits align)

UINT32

RO

0x0000:00, 80

1641:0

DMC RxPDO-Map Outputs 32 Bit

PDO Mapping RxPDO 66

UINT8

RO

0x14 (20_dec)

1641:01

SubIndex 001

1. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1641:02

SubIndex 002

2. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge))

UINT32

RO

0x7040:02, 1

1641:03

SubIndex 003

3. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x03 (DMC__FeedbackControl__Set counter))

UINT32

RO

0x7040:03, 1

1641:04

SubIndex 004

4. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))

UINT32

RO

0x7040:04, 1

1641:05

SubIndex 005

5. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1641:06

SubIndex 006

6. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x11 (DMC__DriveControl__Enable))

UINT32

RO

0x7040:11, 1

1641:07

SubIndex 007

7. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x12 (DMC__DriveControl__Reset))

UINT32

RO

0x7040:12, 1

1641:08

SubIndex 008

8. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1641:09

SubIndex 009

9. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x21 (DMC__PositioningControl__Execute))

UINT32

RO

0x7040:21, 1

1641:0A

SubIndex 010

10. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x22 (DMC__PositioningControl__Emergency stop))

UINT32

RO

0x7040:22, 1

1641:0B

SubIndex 011

11. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1641:0C

SubIndex 012

12. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x31 (DMC__Set counter value))

UINT32

RO

0x7040:31, 32

1641:0D

SubIndex 013

13. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1641:0E

SubIndex 014

14. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x32 (DMC__Target position))

UINT32

RO

0x7040:32, 32

1641:0F

SubIndex 015

15. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1641:10

SubIndex 016

16. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x33 (DMC__Target velocity))

UINT32

RO

0x7040:33, 16

1641:11

SubIndex 017

17. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x34 (DMC__Start type))

UINT32

RO

0x7040:34, 16

1641:12

SubIndex 018

18. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x35 (DMC__Target acceleration))

UINT32

RO

0x7040:35, 16

1641:13

SubIndex 019

19. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x36 (DMC__Target deceleration))

UINT32

RO

0x7040:36, 16

1641:14

SubIndex 020

20. PDO Mapping entry (80 bits align)

UINT32

RO

0x0000:00, 80

1A00:0

FB TxPDO-Map Position

PDO Mapping TxPDO 1

UINT8

RO

0x01 (1_dec)

1A00:01

SubIndex 001

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

UINT32

RO

0x6000:11, 32

1A01:0

DRV TxPDO-Map Statusword

PDO Mapping TxPDO 2

UINT8

RO

0x01 (1_dec)

1A01:01

SubIndex 001

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

UINT32

RO

0x6010:01, 16

1A02:0

DRV TxPDO-Map Velocity actual value

PDO Mapping TxPDO 3

UINT8

RO

0x01 (1_dec)

1A02:01

SubIndex 001

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

UINT32

RO

0x6010:07, 32

1A03:0

DRV TxPDO-Map Torque actual value

PDO Mapping TxPDO 4

UINT8

RO

0x01 (1_dec)

1A03:01

SubIndex 001

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

UINT32

RO

0x6010:08, 16

1A04:0

DRV TxPDO-Map Info data 1

PDO Mapping TxPDO 5

UINT8

RO

0x01 (1_dec)

1A04:01

SubIndex 001

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

UINT32

RO

0x6010:12, 16

1A05:0

DRV TxPDO-Map Info data 2

PDO Mapping TxPDO 6

UINT8

RO

0x01 (1_dec)

1A05:01

SubIndex 001

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

UINT32

RO

0x6010:13, 16

1A06:0

DRV TxPDO-Map Following error actual value

PDO Mapping TxPDO 7

UINT8

RO

0x01 (1_dec)

1A06:01

SubIndex 001

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

UINT32

RO

0x6010:06, 32

1A07:0

FB TxPDO-Map Touch probe status

PDO Mapping TxPDO 8

UINT8

RO

0x0A (10_dec)

1A07:01

SubIndex 001

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

UINT32

RO

0x6001:01, 1

1A07:02

SubIndex 002

2. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x02 (TP1 pos. value stored))

UINT32

RO

0x6001:02, 1

1A07:03

SubIndex 003

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

UINT32

RO

0x6001:03, 1

1A07:04

SubIndex 004

4. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A07:05

SubIndex 005

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

UINT32

RO

0x6001:08, 1

1A07:06

SubIndex 006

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

UINT32

RO

0x6001:09, 1

1A07:07

SubIndex 007

7. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x0A (TP2 pos value stored))

UINT32

RO

0x6001:0A, 1

1A07:08

SubIndex 008

8. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x0B (TP2 neg value stored))

UINT32

RO

0x6001:0B, 1

1A07:09

SubIndex 009

9. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A07:0A

SubIndex 009

8. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x10 (TP2 Input))

UINT32

RO

0x6001:10, 1

1A08:0

FB TxPDO-Map Touch probe 1 pos position

PDO Mapping TxPDO 9

UINT8

RO

0x01 (1_dec)

1A08:01

SubIndex 001

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

UINT32

RO

0x6001:11, 32

1A09:0

FB TxPDO-Map Touch probe 1 neg position

PDO Mapping TxPDO 10

UINT8

RO

0x01 (1_dec)

1A09:01

SubIndex 001

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

UINT32

RO

0x6001:12, 32

1A0A:0

FB TxPDO-Map Touch probe 2 pos position

PDO Mapping TxPDO 11

UINT8

RO

0x01 (1_dec)

1A0A:01

SubIndex 001

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

UINT32

RO

0x6001:13, 32

1A0B:0

FB TxPDO-Map Touch probe 2 neg position

PDO Mapping TxPDO 12

UINT8

RO

0x01 (1_dec)

1A0B:01

SubIndex 001

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

UINT32

RO

0x6001:14, 32

1A0D:0

DRV TxPDO-Map Info data 3

PDO Mapping TxPDO 13

UINT8

RO

0x01 (1_dec)

1A0D:01

SubIndex 001

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

UINT32

RO

0x6010:14, 16

1A0E:0

FB TxPDO-Map Enc Position

PDO Mapping TxPDO 14

UINT8

RO

0x01 (1_dec)

1A0E:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Enc Position))

UINT32

RO

0x6000:12, 32

1A10:0

DI TxPDO-Map Inputs

PDO Mapping TxPDO 13

UINT8

RO

0x0D (13_dec)

1A10:01

SubIndex 001

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

UINT32

RO

0x6020:01, 1

1A10:02

SubIndex 002

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

UINT32

RO

0x6020:02, 1

1A10:03

SubIndex 003

3. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A10:04

SubIndex 004

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

UINT32

RO

0x6020:05, 1

1A10:05

SubIndex 005

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

UINT32

RO

0x6020:06, 1

1A10:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x06 (Encoder C))

UINT32

RO

0x6020:07, 1

1A10:07

SubIndex 007

7. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A10:08

SubIndex 008

8. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x09 (Hall A))

UINT32

RO

0x6020:09, 1

1A10:09

SubIndex 009

9. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x0A (Hall B))

UINT32

RO

0x6020:0A, 1

1A10:0A

SubIndex 010

10. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x0B (Hall C))

UINT32

RO

0x6020:0B, 1

1A10:0B

SubIndex 011

11. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A10:0C

SubIndex 012

12. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x0D (Level of ENA input))

UINT32

RO

0x6020:0D, 1

1A10:0D

SubIndex 013

13. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A40:0

DMC TxPDO-Map Inputs

PDO Mapping TxPDO 65

UINT8

RO

0x26 (38_dec)

1A40:01

SubIndex 001

1. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A40:02

SubIndex 002

2. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))

UINT32

RO

0x6040:02, 1

1A40:03

SubIndex 003

3. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x03 (DMC__FeedbackStatus__Set counter done))

UINT32

RO

0x6040:03, 1

1A40:04

SubIndex 004

4. PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

1A40:05

SubIndex 005

5. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))

UINT32

RO

0x6040:0D, 1

1A40:06

SubIndex 006

6. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A40:07

SubIndex 007

7. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x11 (DMC__DriveStatus__Ready to enable))

UINT32

RO

0x6040:11, 1

1A40:08

SubIndex 008

8. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x12 (DMC__DriveStatus__Ready))

UINT32

RO

0x6040:12, 1

1A40:09

SubIndex 009

9. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x13 (DMC__DriveStatus__Warning))

UINT32

RO

0x6040:13, 1

1A40:0A

SubIndex 010

10. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x14 (DMC__DriveStatus__Error))

UINT32

RO

0x6040:14, 1

1A40:0B

SubIndex 011

11. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x15 (DMC__DriveStatus__Moving positive))

UINT32

RO

0x6040:15, 1

1A40:0C

SubIndex 012

12. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x16 (DMC__DriveStatus__Moving negative))

UINT32

RO

0x6040:16, 1

1A40:0D

SubIndex 013

13. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A40:0E

SubIndex 014

14. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x1C (DMC__DriveStatus__Digital input 1))

UINT32

RO

0x6040:1C, 1

1A40:0F

SubIndex 015

15. PDO Mapping entry
(object 0x6040 (DMC Inputs), entry 0x1D (DMC__DriveStatus__Digital input 2))

UINT32

RO

0x6040:1D, 1

1A40:10

SubIndex 016

16. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A40:11

SubIndex 017

17. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x21 (DMC__PositioningStatus__Busy))

UINT32

RO

0x6040:21, 1

1A40:12

SubIndex 018

18. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x22 (DMC__PositioningStatus__In-Target))

UINT32

RO

0x6040:22, 1

1A40:13

SubIndex 019

19. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x23 (DMC__PositioningStatus__Warning))

UINT32

RO

0x6040:23, 1

1A40:14

SubIndex 020

20. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x24 (DMC__PositioningStatus__Error))

UINT32

RO

0x6040:24, 1

1A40:15

SubIndex 021

21. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x25 (DMC__PositioningStatus__Calibrated))

UINT32

RO

0x6040:25, 1

1A40:16

SubIndex 022

22. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x26 (DMC__PositioningStatus__Accelerate))

UINT32

RO

0x6040:26, 1

1A40:17

SubIndex 023

23. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x27 (DMC__PositioningStatus__Decelerate))

UINT32

RO

0x6040:27, 1

1A40:18

SubIndex 024

24. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x28 (DMC__PositioningStatus__Ready to execute))

UINT32

RO

0x6040:28, 1

1A40:19

SubIndex 025

25. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A40:1A

SubIndex 026

26. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x31 (DMC__Set position))

UINT32

RO

0x6040:31, 64

1A40:1B

SubIndex 027

27. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x32 (DMC__Set velocity))

UINT32

RO

0x6040:32, 16

1A40:1C

SubIndex 028

28. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x33 (DMC__Actual drive time))

UINT32

RO

0x6040:33, 32

1A40:1D

SubIndex 029

29. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x34 (DMC__Actual position lag))

UINT32

RO

0x6040:34, 64

1A40:1E

SubIndex 030

30. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x35 (DMC__Actual velocity))

UINT32

RO

0x6040:35, 16

1A40:1F

SubIndex 031

31. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x36 (DMC__Actual position))

UINT32

RO

0x6040:36, 64

1A40:20

SubIndex 032

32. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x37 (DMC__Error id))

UINT32

RO

0x6040:37, 32

1A40:21

SubIndex 033

33. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x38 (DMC__Input cycle counter))

UINT32

RO

0x6040:38, 8

1A40:22

SubIndex 034

34. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x39 (DMC__Channel id))

UINT32

RO

0x6040:39, 8

1A40:23

SubIndex 035

35. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3A (DMC__Latch value))

UINT32

RO

0x6040:3A, 64

1A40:24

SubIndex 036

36. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3B (DMC__Cyclic info data 1))

UINT32

RO

0x6040:3B, 16

1A40:25

SubIndex 037

37. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3C (DMC__Cyclic info data 2))

UINT32

RO

0x6040:3C, 16

1A40:26

SubIndex 038

38. PDO Mapping entry (64 bits align)

UINT32

RO

0x0000:00, 64

1A41:0

DMC TxPDO-Map Inputs 32 Bit

PDO Mapping TxPDO 66

UINT8

RO

0x2A (42_dec)

1A41:01

SubIndex 001

1. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A41:02

SubIndex 002

2. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))

UINT32

RO

0x6040:02, 1

1A41:03

SubIndex 003

3. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x03 (DMC__FeedbackStatus__Set counter done))

UINT32

RO

0x6040:03, 1

1A41:04

SubIndex 004

4. PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

1A41:05

SubIndex 005

5. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))

UINT32

RO

0x6040:0D, 1

1A41:06

SubIndex 006

6. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A41:07

SubIndex 007

7. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x11 (DMC__DriveStatus__Ready to enable))

UINT32

RO

0x6040:11, 1

1A41:08

SubIndex 008

8. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x12 (DMC__DriveStatus__Ready))

UINT32

RO

0x6040:12, 1

1A41:09

SubIndex 009

9. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x13 (DMC__DriveStatus__Warning))

UINT32

RO

0x6040:13, 1

1A41:0A

SubIndex 010

10. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x14 (DMC__DriveStatus__Error))

UINT32

RO

0x6040:14, 1

1A41:0B

SubIndex 011

11. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x15 (DMC__DriveStatus__Moving positive))

UINT32

RO

0x6040:15, 1

1A41:0C

SubIndex 012

12. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x16 (DMC__DriveStatus__Moving negative))

UINT32

RO

0x6040:16, 1

1A41:0D

SubIndex 013

13. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A41:0E

SubIndex 014

14. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x1C (DMC__DriveStatus__Digital input 1))

UINT32

RO

0x6040:1C, 1

1A41:0F

SubIndex 015

15. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x1D (DMC__DriveStatus__Digital input 2))

UINT32

RO

0x6040:1D, 1

1A41:10

SubIndex 016

16. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A41:11

SubIndex 017

17. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x21 (DMC__PositioningStatus__Busy))

UINT32

RO

0x6040:21, 1

1A41:12

SubIndex 018

18. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x22 (DMC__PositioningStatus__In-Target))

UINT32

RO

0x6040:22, 1

1A41:13

SubIndex 019

19. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x23 (DMC__PositioningStatus__Warning))

UINT32

RO

0x6040:23, 1

1A41:14

SubIndex 020

20. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x24 (DMC__PositioningStatus__Error))

UINT32

RO

0x6040:24, 1

1A41:15

SubIndex 021

21. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x25 (DMC__PositioningStatus__Calibrated))

UINT32

RO

0x6040:25, 1

1A41:16

SubIndex 022

22. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x26 (DMC__PositioningStatus__Accelerate))

UINT32

RO

0x6040:26, 1

1A41:17

SubIndex 023

23. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x27 (DMC__PositioningStatus__Decelerate))

UINT32

RO

0x6040:27, 1

1A41:18

SubIndex 024

24. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x28 (DMC__PositioningStatus__Ready to execute))

UINT32

RO

0x6040:28, 1

1A41:19

SubIndex 025

25. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A41:1A

SubIndex 026

26. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x31 (DMC__Set position))

UINT32

RO

0x6040:31, 32

1A41:1B

SubIndex 027

27. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A41:1C

SubIndex 028

28. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x32 (DMC__Set velocity))

UINT32

RO

0x6040:32, 16

1A41:1D

SubIndex 029

29. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x33 (DMC__Actual drive time))

UINT32

RO

0x6040:33, 32

1A41:1E

SubIndex 030

30. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x34 (DMC__Actual position lag))

UINT32

RO

0x6040:34, 32

1A41:1F

SubIndex 031

31. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A41:20

SubIndex 032

32. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x35 (DMC__Actual velocity))

UINT32

RO

0x6040:35, 16

1A41:21

SubIndex 033

33. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x36 (DMC__Actual position))

UINT32

RO

0x6040:36, 32

1A41:22

SubIndex 034

34. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A41:23

SubIndex 035

35. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x37 (DMC__Error id))

UINT32

RO

0x6040:37, 32

1A41:24

SubIndex 036

36. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x38 (DMC__Input cycle counter))

UINT32

RO

0x6040:38, 8

1A41:25

SubIndex 037

37. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x39 (DMC__Channel id))

UINT32

RO

0x6040:39, 8

1A41:26

SubIndex 038

38. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3A (DMC__Latch value))

UINT32

RO

0x6040:3A, 32

1A41:27

SubIndex 039

39. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A41:28

SubIndex 040

40. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3B (DMC__Cyclic info data 1))

UINT32

RO

0x6040:3B, 16

1A41:29

SubIndex 041

41. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3C (DMC__Cyclic info data 2))

UINT32

RO

0x6040:3C, 16

1A41:2A

SubIndex 042

42. PDO Mapping entry (64 bits align)

UINT32

RO

0x0000:00, 64

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

0x02 (2_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

0x1606 (5638_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x03 (3_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

0x1A01 (6657_dec)

1C13:03

Subindex 003

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

UINT16

RW

0x1A06 (6662_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: Synchron with SM 2 Event
• 2: DC-Mode - Synchron with SYNC0 Event
• 3: DC-Mode - Synchron with SYNC1 Event

UINT16

RW

0x0000 (0_dec)

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

0x00000000 (0_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 (only DC mode)
• Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08)

UINT16

RO

0x0000 (0_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0_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)

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

UINT16

RW

0x0000 (0_dec)

1C33:02

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

0x00000000 (0_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: Synchron with SM 2 Event is supported (outputs available)
• Bit 1: Synchron 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

0x0000 (0_dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0_dec)

1C33:06

Calc and copy time

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

UINT32

RO

0x00000000 (0_dec)

1C33:07

Minimum delay time

Min. time between SYNC1 event and the 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, only DC mode)

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)

000F:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2_dec)

000F:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

000F:02

Maximum number of modules

Number of channels

UINT16

RO

0x0005 (5_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)

010F:0

Module list

Maximum subindex

UINT8

RW

0x04 (4_dec)

010F:01

SubIndex 001

Encoder profile number

DS402 / MDP 513

UINT32

RW

0x00000201 (513_dec)

010F:02

SubIndex 002

Encoder profile number

DS402 / MDP 742

UINT32

RW

0x000002E6 (742_dec)

010F:03

SubIndex 003

Reserved

UINT32

RW

0x00000064 (100_dec)

010F:04

SubIndex 004

Reserved

UINT32

RW

0x00000000 (0_dec)

010F:05

SubIndex 005

Profile number drive motion control

UINT32

RW

0x000002EE (750_dec)

081F:0

Download revision

Download revision

UINT8

RO

0x01 (1_dec)

081F:01

Revision number

Revision number of the module

Relevant as a startup list entry for compatibility

UINT32

RW

0x0000000 (0_dec)

083F:0

Download revision

Beckhoff Traceability Number

STRING

RO