Standard objects
Index 0x1000 Device type
Index (hex) | Name | Meaning | Data type | Flags | Default |
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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 | 0x00D21389 (13767561dec) |
Index 0x1008 Device name
Index (hex) | Name | Meaning | Data type | Flags | Default |
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1008:0 | Device name | Device name of the EtherCAT slave | STRING | RO | EL2212 |
Index 0x1009 Hardware version
Index (hex) | Name | Meaning | Data type | Flags | Default |
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1009:0 | Hardware version | Hardware version of the EtherCAT slave | STRING | RO | 00 |
Index 0x100A Software version
Index (hex) | Name | Meaning | Data type | Flags | Default |
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100A:0 | Software version | Firmware version of the EtherCAT slave | STRING | RO | 01 |
Index 0x1018 Identity
Index (hex) | Name | Meaning | Data type | Flags | Default |
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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 | 0x08A43052 (144978002dec) |
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 | 0x00100000 (1048576dec) |
1018:04 | Serial number | Serial number of the EtherCAT slave; the low byte (bit 0-7) of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of production, the high word (bit 16-31) is 0 | UINT32 | RO | 0x00000000 (0dec) |
Index 0x10F0 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 0x14pp DOX RxPDO-Par Control (Ch.1: pp=00; Ch.2: pp=01)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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14pp:0 | DOX RxPDO-Par Control |
| UINT8 | RO | 0x06 (6dec) |
14pp:06 | Exclude RxPDOs |
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Index 0x1402 DOX RxPDO-Par Sync
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1402:0 | DOX RxPDO-Par Sync |
| UINT8 | RO | 0x06 (6dec) |
1402:06 | Exclude RxPDOs |
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Index 0x14pp DOX RxPDO-Par Control (MTO) (Ch.1: pp=03; Ch.2: pp=04)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
14pp:0 | DOX RxPDO-Par Control (MTO) |
| UINT8 | RO | 0x06 (6dec) |
14pp:06 | Exclude RxPDOs |
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Index 0x14pp MTO RxPDO-Par Outputs 10x
(Ch.1: pp=07; Ch.2: pp=0B)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
14pp:0 | MTO RxPDO-Par Outputs 10x |
| UINT8 | RO | 0x06 (6dec) |
14pp:06 | Exclude RxPDOs |
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Index 0x14pp MTO RxPDO-Par Outputs 5x
(Ch.1: pp=08; Ch.2: pp=0C)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
14pp:0 | MTO RxPDO-Par Outputs 5x |
| UINT8 | RO | 0x06 (6dec) |
14pp:06 | Exclude RxPDOs |
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Index 0x14pp MTO RxPDO-Par Outputs 2x
(Ch.1: pp=09; Ch.2: pp=0D)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
14pp:0 | MTO RxPDO-Par Outputs 2x |
| UINT8 | RO | 0x06 (6dec) |
14pp:06 | Exclude RxPDOs |
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Index 0x14pp MTO RxPDO-Par Outputs 1x
(Ch.1: pp=0A; Ch.2: pp=0E)
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
14pp:0 | MTO RxPDO-Par Outputs 1x |
| UINT8 | RO | 0x06 (6dec) |
14pp:06 | Exclude RxPDOs |
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Index 0x16pp DOX RxPDO-Map Control (Ch.1, pp=00; Ch.2, pp=01)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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16pp:0 | DOX RxPDO-Map Control | PDO Mapping | UINT8 | RO | 0x07 (7dec) |
16pp:01 | SubIndex 001 | 1. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
16pp:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7pp0 (DOX Outputs, entry 0x02 (Output)) | UINT32 | RO | 0x7pp0:02, 1 |
16pp:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7pp0 (DOX Outputs, entry 0x03 (Tristate)) | UINT32 | RO | 0x7pp0:03, 1 |
16pp:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7pp0 (DOX Outputs, entry 0x04 (PWM)) | UINT32 | RO | 0x7pp0:04, 1 |
16pp:05 | SubIndex 005 | 5. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
16pp:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7pp0 (DOX Outputs, entry 0x08 (Reset)) | UINT32 | RO | 0x7pp0:08, 1 |
16pp:07 | SubIndex 007 | 7. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
Index 0x1602 DC RxPDO-Map Sync
Index (hex) | Name | Meaning | Data type | Flags | Default |
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1602:0 | DC RxPDO-Map Sync | PDO Mapping RxPDO 3 | UINT8 | RO | 0x03 (3dec) |
1602:01 | SubIndex 001 | 1. PDO Mapping entry (object 0xF700 (DC Outputs), entry 0x01 (Activate)) | UINT32 | RO | 0xF700:01, 8 |
1602:02 | SubIndex 002 | 2. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1602:03 | SubIndex 003 | 3. PDO Mapping entry (object 0xF700 (DC Outputs), entry 0x03 (Start time)) | UINT32 | RO | 0xF700:03, 64 |
Index 0x16pp DOX RxPDO-Map Control (MTO)
(Ch.1: pp=03, nn=00; Ch.2: pp=04, nn=01)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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16pp:0 | DOX RxPDO-Map Contro (MTO)l | PDO Mapping | UINT8 | RO | 0x05 (5dec) |
16pp:01 | SubIndex 001 | 1. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 3 |
16pp:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7nn0 (DOX Outputs, entry 0x04 (PWM)) | UINT32 | RO | 0x7nn0:04, 1 |
16pp:03 | SubIndex 003 | 3. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
16pp:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7nn0 (DOX Outputs, entry 0x08 (Reset)) | UINT32 | RO | 0x7nn0:08, 1 |
16pp:05 | SubIndex 005 | 5. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
Index 0x16pp DOX RxPDO-Map PWM
(Ch.1: pp=05, nn=00; Ch.2: pp=06, nn=01)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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16pp:0 | DOX RxPDO-Map Control | PDO Mapping | UINT8 | RO | 0x02 (2dec) |
16pp:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7nn0 (DOX Outputs, entry 0x11 (Duty cycle)) | UINT32 | RO | 0x7nn0:11, 8 |
16pp:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7nn0 (DOX Outputs, entry 0x13 (PWM Tperiod)) | UINT32 | RO | 0x7nn0:13, 16 |
Index 0x16pp MTO RxPDO-Map 10x
(Ch.1: pp=07, nn=02; Ch.2: pp=0B, nn=03)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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16pp:0 | MTO RxPDO-Map 10x | PDO Mapping | UINT8 | RO | 0x1D (29dec) |
16pp:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x01 (Output buffer reset)) | UINT32 | RO | 0x7nn1: 01, 1 |
16pp:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x02 (Manual output state)) | UINT32 | RO | 0x7nn1: 02, 1 |
16pp:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x03 (Force order)) | UINT32 | RO | 0x7nn1: 03, 1 |
16pp:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x04 (Enable manual operation)) | UINT32 | RO | 0x7nn1: 04, 1 |
16pp:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
16pp:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x09 (Output order counter)) | UINT32 | RO | 0x7nn1:09, 8 |
16pp:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x11 (No of output events)) | UINT32 | RO | 0x7nn1:11, 8 |
16pp:08 | SubIndex 008 | 8. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
16pp:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x21 (Output event state 1)) | UINT32 | RO | 0x7nn1:21, 1 |
…. | ….. | …. | …. | …. | …. |
16pp:12 | SubIndex 018 | 18. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x2A (Output event state 10)) | UINT32 | RO | 0x7nn1:2A, 1 |
16pp:13 | SubIndex 019 | 19. PDO Mapping entry (22 bits align) | UINT32 | RO | 0x0000:00, 22 |
16pp:14 | SubIndex 020 | 20. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x41 (Output event time 1)) | UINT32 | RO | 0x7nn1:41, 32 |
…. | …. | …. | …. | …. | …. |
16pp:1D | SubIndex 029 | 29. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x4A (Output event time 10)) | UINT32 | RO | 0x7nn1:4A, 32 |
Index 0x16pp MTO RxPDO-Map 5x
(Ch.1: pp=08, nn=02; Ch.2: pp=0C, nn=03)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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16pp:0 | MTO RxPDO-Map 5x | PDO Mapping | UINT8 | RO | 0x13 (19dec) |
16pp:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x01 (Output buffer reset)) | UINT32 | RO | 0x7nn1: 01, 1 |
16pp:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x02 (Manual output state)) | UINT32 | RO | 0x7nn1: 02, 1 |
16pp:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x03 (Force order)) | UINT32 | RO | 0x7nn1: 03, 1 |
16pp:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x04 (Enable manual operation)) | UINT32 | RO | 0x7nn1: 04, 1 |
16pp:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
16pp:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x09 (Output order counter)) | UINT32 | RO | 0x7nn1:09, 8 |
16pp:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x11 (No of output events)) | UINT32 | RO | 0x7nn1:11, 8 |
16pp:08 | SubIndex 008 | 8. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
16pp:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x21 (Output event state 1)) | UINT32 | RO | 0x7nn1:21, 1 |
…. | ….. | …. | …. | …. | …. |
16pp:0D | SubIndex 013 | 13. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x25 (Output event state 5)) | UINT32 | RO | 0x7nn1:25, 1 |
16pp:0E | SubIndex 014 | 14. PDO Mapping entry (27 bits align) | UINT32 | RO | 0x0000:00, 27 |
16pp:0F | SubIndex 015 | 15. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x41 (Output event time 1)) | UINT32 | RO | 0x7nn1:41, 32 |
…. | …. | …. | …. | …. | …. |
16pp:13 | SubIndex 019 | 19. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x45 (Output event time 5)) | UINT32 | RO | 0x7nn1:45, 32 |
Index 0x16pp MTO RxPDO-Map 2x
(Ch.1: pp=09, nn=02; Ch.2: pp=0D, nn=03)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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16pp:0 | MTO RxPDO-Map 2x | PDO Mapping | UINT8 | RO | 0x0D (13dec) |
16pp:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x01 (Output buffer reset)) | UINT32 | RO | 0x7nn1: 01, 1 |
16pp:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x02 (Manual output state)) | UINT32 | RO | 0x7nn1: 02, 1 |
16pp:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x03 (Force order)) | UINT32 | RO | 0x7nn1: 03, 1 |
16pp:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x04 (Enable manual operation)) | UINT32 | RO | 0x7nn1: 04, 1 |
16pp:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
16pp:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x09 (Output order counter)) | UINT32 | RO | 0x7nn1:09, 8 |
16pp:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x11 (No of output events)) | UINT32 | RO | 0x7nn1:11, 8 |
16pp:08 | SubIndex 008 | 8. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
16pp:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x21 (Output event state 1)) | UINT32 | RO | 0x7nn1:21, 1 |
16pp:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x22 (Output event state 2)) | UINT32 | RO | 0x7nn1:22, 1 |
16pp:0B | SubIndex 011 | 11. PDO Mapping entry (30 bits align) | UINT32 | RO | 0x0000:00, 30 |
16pp:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x41 (Output event time 1)) | UINT32 | RO | 0x7nn1:41, 32 |
16pp:0D | SubIndex 013 | 13. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x42 (Output event time 2)) | UINT32 | RO | 0x7nn1:42, 32 |
Index 0x16pp MTO RxPDO-Map 1x
(Ch.1: pp=0A, nn=02; Ch.2: pp=0E, nn=03)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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16pp:0 | MTO RxPDO-Map 1x | PDO Mapping | UINT8 | RO | 0x0B (11dec) |
16pp:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x01 (Output buffer reset)) | UINT32 | RO | 0x7nn1: 01, 1 |
16pp:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x02 (Manual output state)) | UINT32 | RO | 0x7nn1: 02, 1 |
16pp:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x03 (Force order)) | UINT32 | RO | 0x7nn1: 03, 1 |
16pp:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x04 (Enable manual operation)) | UINT32 | RO | 0x7nn1: 04, 1 |
16pp:05 | SubIndex 005 | 5. PDO Mapping entry (4 bits align) | UINT32 | RO | 0x0000:00, 4 |
16pp:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x09 (Output order counter)) | UINT32 | RO | 0x7nn1:09, 8 |
16pp:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x11 (No of output events)) | UINT32 | RO | 0x7nn1:11, 8 |
16pp:08 | SubIndex 008 | 8. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
16pp:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x21 (Output event state 1)) | UINT32 | RO | 0x7nn1:21, 1 |
16pp:0A | SubIndex 010 | 10. PDO Mapping entry (31 bits align) | UINT32 | RO | 0x0000:00, 31 |
16pp:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x7nn1 (MTO Outputs, entry 0x41 (Output event time 1)) | UINT32 | RO | 0x7nn1:41, 32 |
Index 0x18pp DOX TxPDO-Par Status (Ch.1: pp=00; Ch.2: pp=02)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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18pp:0 | DOX TxPDO-Par Status | PDO Mapping | UINT8 | RO | 0x06 (6dec) |
18pp:06 | Exclude TxPDOs |
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Index 0x1804 DC TxPDO-Par Feedback
Index (hex) | Name | Meaning | Data type | Flags | Default |
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1804:0 | DOX TxPDO-Par Status | PDO Mapping | UINT8 | RO | 0x06 (6dec) |
1804:06 | Exclude TxPDOs |
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Index 0x18pp DOX TxPDO-Par Status (MTO) (Ch.1: pp=05; Ch.2: pp=06)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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18pp:0 | DOX TxPDO-Par Status (MTO) | PDO Mapping | UINT8 | RO | 0x06 (6dec) |
18pp:06 | Exclude TxPDOs |
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Index 0x18pp MTO TxPDO-Par Inputs (Ch.1: pp=07; Ch.2: pp=08)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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18pp:0 | MTO TxPDO-Par Inputs | PDO Mapping | UINT8 | RO | 0x06 (6dec) |
18pp:06 | Exclude TxPDOs |
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Index 0x1App DOX TxPDO-Map Status (Ch.1: pp=00; Ch.2: pp=02)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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1App:0 | DOX TxPDO-Map Status | PDO Mapping | UINT8 | RO | 0x09 (9dec) |
1App:01 | SubIndex 001 | 1 PDO Mapping entry (object 0x6pp0 (DOX Inputs), entry 0x01 (Ready to activate)) | UINT32 | RO | 0x6pp0:01, 1 |
1App:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6pp0 (DOX Inputs), entry 0x02 (Output active)) | UINT32 | RO | 0x6pp0:02, 1 |
1App:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6pp0 (DOX Inputs), entry 0x03 (Tristate active)) | UINT32 | RO | 0x6pp0:03, 1 |
1App:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6pp0 (DOX Inputs), entry 0x04 (PWM active)) | UINT32 | RO | 0x6pp0:04, 1 |
1App:05 | SubIndex 005 | 5. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1App:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6pp0 (DOX Inputs), entry 0x07 (Warning)) | UINT32 | RO | 0x6pp0:07, 1 |
1App:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6pp0 (DOX Inputs), entry 0x08 (Error)) | UINT32 | RO | 0x6pp0:08, 1 |
1App:08 | SubIndex 008 | 8. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1App:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6pp0 (DOX Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6pp0:10, 1 |
Index 0x1App DOX TxPDO-Map Synchron info data
(Ch.1: pp=01, nn=00; Ch.2: pp=03, nn=01)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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1App:0 | DOX TxPDO-Map Synchron info data | PDO Mapping | UINT8 | RO | 0x02 (2dec) |
1App:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6nn0 (DOX Inputs), entry 0x11 (Info data 1)) | UINT32 | RO | 0x6nn0:11, 16 |
1App:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6nn0 (DOX Inputs), entry 0x12 (Info data 2)) | UINT32 | RO | 0x6nn0:12, 16 |
Index 0x1A04 DC TxPDO-Map Feedback
Index (hex) | Name | Meaning | Data type | Flags | Default |
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1A04:0 | DC TxPDO-Map Feedback | PDO Mapping TxPDO 5 | UINT8 | RO | 0x02 (2dec) |
1A04:01 | SubIndex 001 | 1. PDO Mapping entry (object 0xF600 (DC Inputs), entry 0x01 (Feedback)) | UINT32 | RO | 0xF600:01, 8 |
1A04:02 | SubIndex 002 | 2. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
Index 0x1App DOX TxPDO-Map Status (MTO)
(Ch.1: pp=05, nn=00; Ch.2: pp=06, nn=01)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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1App:0 | DOX TxPDO-Map Status (MTO) | PDO Mapping | UINT8 | RO | 0x09 (9dec) |
1App:01 | SubIndex 001 | 1 PDO Mapping entry (object 0x6nn0 (DOX Inputs), entry 0x01 (Ready to activate)) | UINT32 | RO | 0x6nn0:01, 1 |
1App:02 | SubIndex 002 | 2. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1App:03 | SubIndex 004 | 3. PDO Mapping entry (object 0x6nn0 (DOX Inputs), entry 0x04 (PWM active)) | UINT32 | RO | 0x6nn0:04, 1 |
1App:04 | SubIndex 005 | 4. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1App:05 | SubIndex 006 | 5. PDO Mapping entry (object 0x6nn0 (DOX Inputs), entry 0x07 (Warning)) | UINT32 | RO | 0x6nn0:07, 1 |
1App:06 | SubIndex 007 | 6. PDO Mapping entry (object 0x6nn0 (DOX Inputs), entry 0x08 (Error)) | UINT32 | RO | 0x6nn0:08, 1 |
1App:07 | SubIndex 008 | 7. PDO Mapping entry (7 bits align) | UINT32 | RO | 0x0000:00, 7 |
1App:08 | SubIndex 009 | 8. PDO Mapping entry (object 0x6nn0 (DOX Inputs), entry 0x10 (TxPDO Toggle)) | UINT32 | RO | 0x6nn0:10, 1 |
Index 0x1App MTO TxPDO-Map Inputs
(Ch.1: pp=07, nn=02; Ch.2: pp=08, nn=03)
Index (hex) | Name | Meaning | Data type | Flags | Default |
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1App:0 | MTO TxPDO-Map Inputs) | PDO Mapping | UINT8 | RO | 0x09 (9dec) |
1App:01 | SubIndex 001 | 1 PDO Mapping entry (object 0x6nn0 (MTO Inputs), entry 0x01 (Output short circuit)) | UINT32 | RO | 0x6nn0:01, 1 |
1App:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6nn0 (MTO Inputs), entry 0x02 (Output buffer overflow)) | UINT32 | RO | 0x6nn0:02, 1 |
1App:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6nn0 (MTO Inputs), entry 0x03 (Output state)) | UINT32 | RO | 0x6nn0:03, 1 |
1App:04 | SubIndex 004 | 4. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1App:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6nn0 (MTO Inputs), entry 0x07 (Warning)) | UINT32 | RO | 0x6nn0:07, 1 |
1App:06 | SubIndex 006 | 6. PDO Mapping entry (7 bits align) | UINT32 | RO | 0x0000:00, 7 |
1App:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6nn0 (MTO Inputs), entry 0x0F (Input cycle counter)) | UINT32 | RO | 0x6nn0:0F, 2 |
1App:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6nn0 (MTO Inputs), entry 0x11 (Output order feedback)) | UINT32 | RO | 0x6nn0:11, 8 |
1App:09 | SubIndex 009 | 8. PDO Mapping entry (object 0x6nn0 (MTO Inputs), entry 0x12 (Events in output buffer)) | UINT32 | RO | 0x6nn0:12, 8 |
Index 0x1C00 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 0x1C12 RxPDO assign
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C12:0 | RxPDO assign | PDO Assign Outputs | UINT8 | RW | 0x03 (3dec) |
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) |
Index 0x1C13 TxPDO assign
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C13:0 | TxPDO assign | PDO Assign Inputs | UINT8 | RW | 0x03 (3dec) |
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 | 0x0000 (0dec) |
1C13:05 | Subindex 005 | 5. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x0000 (0dec) |
Index 0x1C32 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:
| UINT16 | RW | 0x0001 (1dec) |
1C32:02 | Cycle time | Cycle time (in ns):
| 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:
| UINT16 | RO | 0xC007 (49159dec) |
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 |
| UINT32 | RO | 0x00000000 (0dec) |
1C32:08 | Command |
The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, and 1C33:09 are updated with the maximum measured values. | UINT16 | RW | 0x0000 (0dec) |
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
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:
| UINT16 | RW | 0x0022 (34dec) |
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, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C33:04 | Sync modes supported | Supported synchronization modes:
| UINT16 | RO | 0xC007 (49159dec) |
1C33:05 | Minimum cycle time | as 1C32:05 | 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, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C33:07 | Minimum delay time |
| UINT32 | RO | 0x00000000 (0dec) |
1C33:08 | Command | as 1C32:08 | UINT16 | RW | 0x0000 (0dec) |
1C33:09 | Maximum delay time | Time between SYNC1 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C33:0B | SM event missed counter | 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) |
Index 0xF000 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 | 0x0004 (4dec) |
Index 0xF008 Code word
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F008:0 | Code word | reserved | UINT32 | RW | 0x00000000 (0dec) |
Index 0xF010 Module list
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F010:0 | Module list |
| UINT8 | RW | 0x04 (4dec) |
F010:01 | SubIndex 001 | Profile number of the DOX interface | UINT32 | RW | 0x000000D2 (210dec) |
F010:02 | SubIndex 002 | Profile number of the DOX interface | UINT32 | RW | 0x000000D2 (210dec) |
F010:03 | SubIndex 003 | Profile number of the MTO interface | UINT32 | RW | 0x000000DC (220dec) |
F010:04 | SubIndex 004 | Profile number of the MTO interface | UINT32 | RW | 0x000000DC (220dec) |