Standard objects

Index 0x1000 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

0x00D21389 (13767561dec)

Index 0x1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

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

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

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

Index 0x1018 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

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

14pp:0

DOX RxPDO-Par Control

 

UINT8

RO

0x06 (6dec)

14pp:06

Exclude RxPDOs

 

 

 

 

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

 

 

 

 

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

 

 

 

 

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

 

 

 

 

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

 

 

 

 

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

 

 

 

 

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

 

 

 

 

Index 0x16pp DOX RxPDO-Map Control (Ch.1, pp=00; Ch.2, pp=01)

Index (hex)

Name

Meaning

Data type

Flags

Default

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

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

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

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

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

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

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

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

18pp:0

DOX TxPDO-Par Status

PDO Mapping

UINT8

RO

0x06 (6dec)

18pp:06

Exclude TxPDOs

 

 

 

 

Index 0x1804 DC TxPDO-Par Feedback

Index (hex)

Name

Meaning

Data type

Flags

Default

1804:0

DOX TxPDO-Par Status

PDO Mapping

UINT8

RO

0x06 (6dec)

1804:06

Exclude TxPDOs

 

 

 

 

Index 0x18pp DOX TxPDO-Par Status (MTO) (Ch.1: pp=05; Ch.2: pp=06)

Index (hex)

Name

Meaning

Data type

Flags

Default

18pp:0

DOX TxPDO-Par Status (MTO)

PDO Mapping

UINT8

RO

0x06 (6dec)

18pp:06

Exclude TxPDOs

 

 

 

 

Index 0x18pp MTO TxPDO-Par Inputs (Ch.1: pp=07; Ch.2: pp=08)

Index (hex)

Name

Meaning

Data type

Flags

Default

18pp:0

MTO TxPDO-Par Inputs

PDO Mapping

UINT8

RO

0x06 (6dec)

18pp:06

Exclude TxPDOs

 

 

 

 

Index 0x1App DOX TxPDO-Map Status (Ch.1: pp=00; Ch.2: pp=02)

Index (hex)

Name

Meaning

Data type

Flags

Default

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

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

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

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

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:

  • 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 (only DC mode)
  • Bit 14 = 1: dynamic times (measurement through writing of 1C32:08)

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

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

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, and 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

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:

  • 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

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:

  • 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 1C32:08 or 1C33:08)

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)