Standard objects (0x1000-0x1FFF)

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

EL2522

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

 00

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

06

1011:0

Restore default parameters

Restore default settings

UINT8

RO

0x01 (1_dec)

1011:01

SubIndex 001

If this object is set to "0x64616F6C" in the Set Value Dialog, all backup objects are reset to their delivery state.

UINT32

RW

0x00000000 (0_dec)

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

0x09DA3052 (165294162_dec)

1018:03

Revision

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

UINT32

RO

0x00000000 (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)

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)

1400:0

PTO RxPDO-Par Control Ch.1

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6_dec)

1400:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 1

OCTET-STRING[6]

RO

01 16 04 16 00 00

1401:0

PTO RxPDO-Par Control Position Ch.1

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6_dec)

1401:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 2

OCTET-STRING[6]

RO

00 16 02 16 03 16

1402:0

PTO RxPDO-Par Target compact Ch.1

PDO Parameter RxPDO 3

UINT8

RO

0x06 (6_dec)

1402:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 3

OCTET-STRING[6]

RO

01 16 03 16 00 00

1403:0

PTO RxPDO-Par Target Ch.1

PDO Parameter RxPDO 4

UINT8

RO

0x06 (6_dec)

1403:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 4

OCTET-STRING[6]

RO

01 16 02 16 00 00

1404:0

PTO RxPDO-Par Arrival Ch.1

PDO Parameter RxPDO 5

UINT8

RO

0x06 (6_dec)

1404:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 5

OCTET-STRING[6]

RO

00 16 02 16 03 16

1405:0

PTO RxPDO-Par Control Ch.2

PDO Parameter RxPDO 6

UINT8

RO

0x06 (6_dec)

1405:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 6

OCTET-STRING[6]

RO

06 16 09 16 00 00

1406:0

PTO RxPDO-Par Control Position Ch.2

PDO Parameter RxPDO 7

UINT8

RO

0x06 (6_dec)

1406:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 7

OCTET-STRING[6]

RO

05 16 07 16 08 16

1407:0

PTO RxPDO-Par Target compact Ch.2

PDO Parameter RxPDO 8

UINT8

RO

0x06 (6_dec)

1407:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 8

OCTET-STRING[6]

RO

06 16 08 16 00 00

1408:0

PTO RxPDO-Par Target Ch.2

PDO Parameter RxPDO 9

UINT8

RO

0x06 (6_dec)

1408:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 9

OCTET-STRING[6]

RO

06 16 07 16 00 00

1409:0

PTO RxPDO-Par Arrival Ch.2

PDO Parameter RxPDO 10

UINT8

RO

0x06 (6_dec)

1409:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 10

OCTET-STRING[6]

RO

05 16 07 16 08 16

140A:0

ENC RxPDO-Par Control compact Ch.1

PDO Parameter RxPDO 11

UINT8

RO

0x06 (6_dec)

140A:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 11

OCTET-STRING[6]

RO

0B 16 00 00 00 00

140B:0

ENC RxPDO-Par Control Ch.1

PDO Parameter RxPDO 12

UINT8

RO

0x06 (6_dec)

140B:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 12

OCTET-STRING[6]

RO

0A 16 00 00 00 00

140C:0

ENC RxPDO-Par Control compact Ch.2

PDO Parameter RxPDO 13

UINT8

RO

0x06 (6_dec)

140C:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 13

OCTET-STRING[6]

RO

0D 16 00 00 00 00

140D:0

ENC RxPDO-Par Control Ch.2

PDO Parameter RxPDO 14

UINT8

RO

0x06 (6_dec)

140D:06

Exclude RxPDOs

Specifies the RxPDOs (index 0x of RxPDO mapping objects) that must not be transferred together with RxPDO 14

OCTET-STRING[6]

RO

0C 16 00 00 00 00

1600:0

PTO RxPDO-Map Control Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x05 (5_dec)

1600:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x01 (Frequency select))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x02 (Disable ramp))

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 0x003

3. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x03 (Go counter))

UINT32

RO

0x7000:03, 1

1600:04

SubIndex 0x004

4. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 13

1600:05

SubIndex 0x005

5. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x11 (Frequency value))

UINT32

RO

0x7000:11, 16

1601:0

PTO RxPDO-Map Control Position Ch.1

PDO Mapping RxPDO 2

UINT8

RO

0x06 (6_dec)

1601:01

SubIndex 0x001

1. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1601:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x04 (Automatic direction))

UINT32

RO

0x7000:04, 1

1601:03

SubIndex 0x003

3. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x05 (Forward))

UINT32

RO

0x7000:05, 1

1601:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x06 (Reward))

UINT32

RO

0x7000:06, 1

1601:05

SubIndex 0x005

5. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

1601:06

SubIndex 0x006

6. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x12 (Target counter value))

UINT32

RO

0x7000:12, 32

1602:0

PTO RxPDO-Map Target compact Ch.1

PDO Mapping RxPDO 3

UINT8

RO

0x01 (1_dec)

1602:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7000 (PTO outputs Ch.1), entry 0x12 (Target counter value))

UINT32

RO

0x7000:12, 16

1603:0

PTO RxPDO-Map Target Ch.1

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1_dec)

1603:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7000 (PTO outputs Ch.1), entry 0x12 (Target counter value))

UINT32

RO

0x7000:12, 32

1604:0

PTO RxPDO-Map Arrival Ch.1

PDO Mapping RxPDO 5

UINT8

RO

0x01 (1_dec)

1604:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7000 (PTO Outputs Ch.1), entry 0x13 (Target arrival time))

UINT32

RO

0x7000:13, 64

1605:0

PTO RxPDO-Map Control Ch.2

PDO Mapping RxPDO 6

UINT8

RO

0x05 (5_dec)

1605:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x01 (Frequency select))

UINT32

RO

0x7010:01, 1

1605:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x02 (Disable ramp))

UINT32

RO

0x7010:02, 1

1605:03

SubIndex 0x003

3. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x03 (Go counter))

UINT32

RO

0x7010:03, 1

1605:04

SubIndex 0x004

4. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 13

1605:05

SubIndex 0x005

5. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x11 (Frequency value))

UINT32

RO

0x7010:11, 16

1606:0

PTO RxPDO-Map Control Position Ch.2

PDO Mapping RxPDO 7

UINT8

RO

0x06 (6_dec)

1606:01

SubIndex 0x001

1. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1606:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x04 (Automatic direction))

UINT32

RO

0x7010:04, 1

1606:03

SubIndex 0x003

3. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x05 (Forward))

UINT32

RO

0x7010:05, 1

1606:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x06 (Reward))

UINT32

RO

0x7010:06, 1

1606:05

SubIndex 0x005

5. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

1606:06

SubIndex 0x006

6. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x12 (Target counter value))

UINT32

RO

0x7010:12, 32

1607:0

PTO RxPDO-Map Target compact Ch.2

PDO Mapping RxPDO 8

UINT8

RO

0x01 (1_dec)

1607:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x12 (Target counter value))

UINT32

RO

0x7010:12, 16

1608:0

PTO RxPDO-Map Target Ch.2

PDO Mapping RxPDO 9

UINT8

RO

0x01 (1_dec)

1608:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x12 (Target counter value))

UINT32

RO

0x7010:12, 32

1609:0

PTO RxPDO-Map Arrival Ch.2

PDO Mapping RxPDO 10

UINT8

RO

0x01 (1_dec)

1609:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7010 (PTO Outputs Ch.2), entry 0x13 (Target arrival time))

UINT32

RO

0x7010:13, 64

160A:0

ENC RxPDO-Map Control compact Ch.1

PDO Mapping RxPDO 11

UINT8

RO

0x05 (5_dec)

160A:01

SubIndex 0x001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

160A:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x03 (Set counter))

UINT32

RO

0x7020:03, 1

160A:03

SubIndex 0x003

3. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

160A:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x10 (Reserved))

UINT32

RO

0x7020:10, 1

160A:05

SubIndex 0x005

5. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x11 (Set counter value))

UINT32

RO

0x7020:11, 16

160B:0

ENC RxPDO-Map Control Ch.1

PDO Mapping RxPDO 12

UINT8

RO

0x05 (5_dec)

160B:01

SubIndex 0x001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

160B:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x03 (Set counter))

UINT32

RO

0x7020:03, 1

160B:03

SubIndex 0x003

3. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

160B:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x10 (Reserved))

UINT32

RO

0x7020:10, 1

160B:05

SubIndex 0x005

5. PDO Mapping entry (object 0x7020 (ENC Outputs Ch.1), entry 0x11 (Set counter value))

UINT32

RO

0x7020:11, 32

160C:0

ENC RxPDO-Map Control compact Ch.2

PDO Mapping RxPDO 13

UINT8

RO

0x05 (5_dec)

160C:01

SubIndex 0x001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

160C:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x03 (Set counter))

UINT32

RO

0x7030:03, 1

160C:03

SubIndex 0x003

3. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

160C:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x10 (Reserved))

UINT32

RO

0x7030:10, 1

160C:05

SubIndex 0x005

5. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x11 (Set counter value))

UINT32

RO

0x7030:11, 16

160D:0

ENC RxPDO-Map Control Ch.2

PDO Mapping RxPDO 14

UINT8

RO

0x05 (5_dec)

160D:01

SubIndex 0x001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

160D:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x03 (Set counter))

UINT32

RO

0x7030:03, 1

160D:03

SubIndex 0x003

3. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

160D:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x10 (Reserved))

UINT32

RO

0x7030:10, 1

160D:05

SubIndex 0x005

5. PDO Mapping entry (object 0x7030 (ENC Outputs Ch.2), entry 0x11 (Set counter value))

UINT32

RO

0x7030:11, 32

1802:0

ENC TxPDO-Par Status compact Ch.1

PDO parameter TxPDO 3

UINT8

RO

0x06 (6_dec)

1802:06

Exclude TxPDOs

Specifies the TxPDOs (index 0x of TxPDO mapping objects) that must not be transferred together with TxPDO 3

OCTET-STRING[2]

RO

03 1A

1803:0

ENC TxPDO-Par Status Ch.1

PDO parameter TxPDO 4

UINT8

RO

0x06 (6_dec)

1803:06

Exclude TxPDOs

Specifies the TxPDOs (index 0x of TxPDO mapping objects) that must not be transferred together with TxPDO 4

OCTET-STRING[2]

RO

02 1A

1804:0

ENC TxPDO-Par Status compact Ch.2

PDO parameter TxPDO 5

UINT8

RO

0x06 (6_dec)

1804:06

Exclude TxPDOs

Specifies the TxPDOs (index 0x of TxPDO mapping objects) that must not be transferred together with TxPDO 5

OCTET-STRING[2]

RO

05 1A

1805:0

ENC TxPDO-Par Status Ch.2

PDO parameter TxPDO 6

UINT8

RO

0x06 (6_dec)

1805:06

Exclude TxPDOs

Specifies the TxPDOs (index 0x of TxPDO mapping objects) that must not be transferred together with TxPDO 6

OCTET-STRING[2]

RO

04 1A

1A00:0

PTO TxPDO-Map Status Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x0A (10_dec)

1A00:01

SubIndex 0x001

1. PDO Mapping entry (object 0x6000 (PTO inputs Ch.1), entry 0x01 (Sel. Ack/End counter))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x02 (Ramp active))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 0x003

3. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A00:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x07 (Error))

UINT32

RO

0x6000:07, 1

1A00:05

SubIndex 0x005

5. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

1A00:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x0E (Sync error))

UINT32

RO

0x6000:0E, 1

1A00:07

SubIndex 0x007

7. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:08

SubIndex 0x008

8. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6000:10, 1

1A00:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6000 (PTO Inputs Ch.1), entry 0x11 ())

UINT32

RO

0x6000:11, 1

1A00:0A

SubIndex 0x010

10. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

1A01:0

PTO TxPDO-Map Status Ch.2

PDO Mapping TxPDO 2

UINT8

RO

0x0A (10_dec)

1A01:01

SubIndex 0x001

1. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x01 (Sel. Ack/End counter))

UINT32

RO

0x6010:01, 1

1A01:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x02 (Ramp active))

UINT32

RO

0x6010:02, 1

1A01:03

SubIndex 0x003

3. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A01:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x07 (Error))

UINT32

RO

0x6010:07, 1

1A01:05

SubIndex 0x005

5. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

1A01:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x0E (Sync error))

UINT32

RO

0x6010:0E, 1

1A01:07

SubIndex 0x007

7. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A01:08

SubIndex 0x008

8. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6010:10, 1

1A01:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6010 (PTO Inputs Ch.2), entry 0x11 ())

UINT32

RO

0x6010:11, 1

1A01:0A

SubIndex 0x010

10. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

1A02:0

ENC TxPDO-Map Status compact Ch.1

PDO Mapping TxPDO 3

UINT8

RO

0x09 (9_dec)

1A02:01

SubIndex 0x001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A02:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x03 (Set counter done))

UINT32

RO

0x6020:03, 1

1A02:03

SubIndex 0x003

3. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x04 (Counter underflow))

UINT32

RO

0x6020:04, 1

1A02:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x05 (Counter overflow))

UINT32

RO

0x6020:05, 1

1A02:05

SubIndex 0x005

5. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A02:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x0E (Sync error))

UINT32

RO

0x6020:0E, 1

1A02:07

SubIndex 0x007

7. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x0F (TxPDO State))

UINT32

RO

0x6020:0F, 1

1A02:08

SubIndex 0x008

8. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6020:10, 1

1A02:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x11 (Counter value))

UINT32

RO

0x6020:11, 16

1A03:0

ENC TxPDO-Map Status Ch.1

PDO Mapping TxPDO 4

UINT8

RO

0x09 (9_dec)

1A03:01

SubIndex 0x001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A03:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x03 (Set counter done))

UINT32

RO

0x6020:03, 1

1A03:03

SubIndex 0x003

3. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x04 (Counter underflow))

UINT32

RO

0x6020:04, 1

1A03:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x05 (Counter overflow))

UINT32

RO

0x6020:05, 1

1A03:05

SubIndex 0x005

5. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A03:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x0E (Sync error))

UINT32

RO

0x6020:0E, 1

1A03:07

SubIndex 0x007

7. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x0F (TxPDO State))

UINT32

RO

0x6020:0F, 1

1A03:08

SubIndex 0x008

8. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6020:10, 1

1A03:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6020 (ENC Inputs Ch.1), entry 0x11 (Counter value))

UINT32

RO

0x6020:11, 32

1A04:0

ENC TxPDO-Map Status compact Ch.2

PDO Mapping TxPDO 5

UINT8

RO

0x09 (9_dec)

1A04:01

SubIndex 0x001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A04:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x03 (Set counter done))

UINT32

RO

0x6030:03, 1

1A04:03

SubIndex 0x003

3. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x04 (Counter underflow))

UINT32

RO

0x6030:04, 1

1A04:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x05 (Counter overflow))

UINT32

RO

0x6030:05, 1

1A04:05

SubIndex 0x005

5. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A04:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x0E (Sync error))

UINT32

RO

0x6030:0E, 1

1A04:07

SubIndex 0x007

7. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x0F (TxPDO State))

UINT32

RO

0x6030:0F, 1

1A04:08

SubIndex 0x008

8. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6030:10, 1

1A04:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x11 (Counter value))

UINT32

RO

0x6030:11, 16

1A05:0

ENC TxPDO-Map Status Ch.2

PDO Mapping TxPDO 6

UINT8

RO

0x09 (9_dec)

1A05:01

SubIndex 0x001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A05:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x03 (Set counter done))

UINT32

RO

0x6030:03, 1

1A05:03

SubIndex 0x003

3. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x04 (Counter underflow))

UINT32

RO

0x6030:04, 1

1A05:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x05 (Counter overflow))

UINT32

RO

0x6030:05, 1

1A05:05

SubIndex 0x005

5. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A05:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x0E (Sync error))

UINT32

RO

0x6030:0E, 1

1A05:07

SubIndex 0x007

7. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x0F (TxPDO State))

UINT32

RO

0x6030:0F, 1

1A05:08

SubIndex 0x008

8. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6030:10, 1

1A05:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6030 (ENC Inputs Ch.2), entry 0x11 (Counter value))

UINT32

RO

0x6030:11, 32

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

0x06 (6_dec)

1C12:01

Subindex 001

1. allocated RxPDO (contains the index 0x of the associated RxPDO mapping object)

UINT16

RW

0x1600 (5632_dec)

1C12:02

Subindex 002

2. allocated RxPDO (contains the index 0x of the associated RxPDO mapping object)

UINT16

RW

0x1603 (5635_dec)

1C12:03

Subindex 003

3. allocated RxPDO (contains the index 0x of the associated RxPDO mapping object)

UINT16

RW

0x1605 (5637_dec)

1C12:04

Subindex 004

4. allocated RxPDO (contains the index 0x of the associated RxPDO mapping object)

UINT16

RW

0x1608 (5640_dec)

1C12:05

Subindex 005

5. allocated RxPDO (contains the index 0x of the associated RxPDO mapping object)

UINT16

RW

0x160B (5643_dec)

1C12:06

Subindex 006

6. allocated RxPDO (contains the index 0x of the associated RxPDO mapping object)

UINT16

RW

0x160D (5645_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x04 (4_dec)

1C13:01

Subindex 001

1. allocated TxPDO (contains the index 0x of the associated TxPDO mapping object)

UINT16

RW

0x1A00 (6656_dec)

1C13:02

Subindex 002

2. allocated TxPDO (contains the index 0x of the associated TxPDO mapping object)

UINT16

RW

0x1A01 (6657_dec)

1C13:03

Subindex 003

3. allocated TxPDO (contains the index 0x of the associated TxPDO mapping object)

UINT16

RW

0x1A03 (6659_dec)

1C13:04

Subindex 004

4. allocated TxPDO (contains the index 0x of the associated TxPDO mapping object)

UINT16

RW

0x1A05 (6661_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

0x0001 (1_dec)

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 (1000000_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

0x4C07 (19463_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000186A0 (100000_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

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 (outputs available)

UINT16

RW

0x0022 (34_dec)

1C33:02

Cycle time

as 0x1C32:02 

UINT32

RW

0x000F4240 (1000000_dec)

1C33:03

Shift time

Time between SYNC0 event and reading of the inputs (in ns, only DC mode)

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

0x4C07 (19463_dec)

1C33:05

Minimum cycle time

as 0x1C32:05 

UINT32

RO

0x000186A0 (100000_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

UINT32

RO

0x00000000 (0_dec)

1C33:08

Command

as 0x1C32:08

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

as 0x1C32:11 

UINT16

RO

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:12 

UINT16

RO

0x0000 (0_dec)

1C33:0D

Shift too short counter

as 0x1C32:13 

UINT16

RO

0x0000 (0_dec)

1C33:20

Sync error

as 0x1C32:32 

BOOLEAN

RO

0x00 (0_dec)