Profile-specific objects (0x6000-0xFFFF)

6000:0

Inputs

Max. Subindex

UINT8

RO

0x02 (2_dec)

6000:01

Status

Status Word

UINT16

RO

0x0000 (0_dec)

6000:02

Data In

Input process data (counter value, index 0x6020:11)

UINT16

RO

0x0000 (0_dec)

6010:0

PTO Inputs

Max. Subindex

UINT8

RO

0x10 (16_dec)

6010:01

Sel. Ack/End counter

Confirms the change of the base frequency.
With activated travel distance control:
target counter value reached

BOOLEAN

RO

0x00 (0_dec)

6010:02

Ramp active

Ramp is currently being followed

BOOLEAN

RO

0x00 (0_dec)

6010:05

Status of input target

Status of the input TARGET (T)

BOOLEAN

RO

0x00 (0_dec)

6010:06

Status of input zero

Status of the input ZERO (Z)

BOOLEAN

RO

0x00 (0_dec)

6010:07

Error

General error bit, is set together with overrange and underrange

BOOLEAN

RO

0x00 (0_dec)

6010:0E

Sync Error

The Sync error bit is only required for Distributed Clocks mode. It indicates whether a synchronization error has occurred during the previous cycle.

BOOLEAN

RO

0x00 (0_dec)

6010:10

TxPDO Toggle

The TxPDO Toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

0x00 (0_dec)

6020:0

ENC Inputs

Max. Subindex

UINT8

RO

0x16 (22_dec)

6020:03

Set counter done

Counter was set.

BOOLEAN

RO

0x00 (0_dec)

6020:04

Counter underflow

This bit is set if the 16-bit counter underflows (0 -> 65535).
It is reset when the counter drops below two thirds of its measuring range (43690 -> 43689) or immediately an overflow occurs.

BOOLEAN

RO

0x00 (0_dec)

6020:05

Counter overflow

This bit is set if the 16-bit counter overflows (65535 -> 0).
It is reset when the counter exceeds one third of its measuring range (21845 -> 21846) or immediately an underflow occurs.

BOOLEAN

RO

0x00 (0_dec)

6020:0E

Sync Error

The Sync error bit is only required for Distributed Clocks mode. It indicates whether a synchronization error has occurred during the previous cycle.

BOOLEAN

RO

0x00 (0_dec)

6020:10

TxPDO Toggle

The TxPDO Toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

0x00 (0_dec)

6020:11

Counter value

Counter value

UINT32

RO

0x00000000 (0_dec)

7000:0

Outputs

Max. Subindex

UINT8

RO

0x02 (2_dec)

7000:01

Ctrl

Control Word

UINT16

RO

0x0000 (0_dec)

7000:02

Data Out

Output process data (frequency value, index 0x7010:11)

UINT16

RO

0x0000 (0_dec)

7010:0

PTO Outputs

Max. Subindex

UINT8

RO

0x12 (18_dec)

7010:01

Frequency select

Fast toggling of the base frequency (only if ramp function is deactivated)
0_bin = base frequency 1 (object 8001:02 0x8010:12)

1_bin = base frequency 2 (object 8001:03 0x8010:13)

BOOLEAN

RO

0x00 (0_dec)

7010:02

Disable ramp

The ramp function is disabled despite active object 0x8000:06

0x8010:06; if travel distance control is active, it is aborted by this bit.

BOOLEAN

RO

0x00 (0_dec)

7010:03

Go counter

With travel distance control activated (object 0x8000:0A 0x8010:0A) and bit set, a specified counter value is driven to

BOOLEAN

RO

0x00 (0_dec)

7010:11

Frequency value

Frequency value

UINT16

RO

0x0000 (0_dec)

7010:12

Target counter value

Target counter value

UINT32

RO

0x00000000 (0_dec)

7020:0

ENC Outputs

Max. Subindex

UINT8

RO

0x11 (17_dec)

7020:03

Set counter

Set counter value

BOOLEAN

RO

0x00 (0_dec)

7020:11

Set counter value

Counter value to be set via index 0x7020:03

UINT32

RO

0x00000000 (0_dec)

A000:0

Diagnostic parameter

Max. Subindex

UINT8

RO

0x01 (1_dec)

A000:01

Counter extension

Counter extension

UINT16

RO

0x0000 (0_dec)

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2_dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0003 (3_dec)

F008:0

Code word

currently reserved

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Max. Subindex

UINT8

RW

0x03 (3_dec)

F010:01

SubIndex 001

-

UINT32

RW

0x000000FC (252_dec)

F010:02

SubIndex 002

-

UINT32

RW

0x000000FD (253_dec)

F010:03

SubIndex 003

-

UINT32

RW

0x000001FF (511_dec)