Standard objects

Index 1000 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 used CoE profile (5001). The Hi-Word contains the module profile according to the modular device profile.

UINT32

RO

0x00001389 (5001dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL4374

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

-

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

Index 100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100B:0

Bootloader version

Bootloader version

STRING

RO

n/a

Index 1018 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

0x11163052 (286666834dec)

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 (0dec)

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 10E2 Manufacturer-specific Identification Code*)

Index (hex)

Name

Meaning

Data type

Flags

Default

10E2:0

Manufacturer-specific identification code

Manufacturer specific identification code

UINT8

RO

0x01 (1dec)

10E2:01

Subindex 001

 

STRING

RO

 

Index 10F0 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 10F3 Diagnosis History

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis History

Maximum subindex

UINT8

RO

0x15 (21dec)

10F3:01

Maximum Messages

Maximum number of stored messages
A maximum of 16 messages can be stored

UINT8

RO

0x00 (0dec)

10F3:02

Newest Message

Subindex of the latest message

UINT8

RO

0x00 (0dec)

10F3:03

Newest Acknowledged Message

Subindex of the last confirmed message

UINT8

RW

0x00 (0dec)

10F3:04

New Messages Available

Indicates that a new message is available

BOOLEAN

RO

0x00 (0dec)

10F3:05

Flags

not used

UINT16

RW

0x0000 (0dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET-STRING[24]

RO

{0}

…

…

….

…

…

…

10F3:15

Diagnosis Message 016

Message 16

OCTET-STRING[24]

RO

{0}

Index 10F8 Timestamp Object

Index (hex)

Name

Meaning

Data type

Flags

Default

10F8:0

Timestamp Object

Timestamp Object [ns]

For SM synchronous operation: Time since power-on

For DC synchronous operation: copy of the DC time

Time can be used by the device e.g. for timestamps of the DiagMessage

UINT64

RO

 

Index 1420 AO RxPDO-Par Standard (INT16) Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1420:0

AO RxPDO-Par Standard (INT16)
Ch.3

PDO Parameter RxPDO 33

UINT8

RO

0x06 (6dec)

1420:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 33

OCTET-STRING[2]

RO

22 16

Index 1422 AO RxPDO-Par Standard (Real32) Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1422:0

AO RxPDO-Par Standard (Real32) Ch. 3

PDO Parameter RxPDO 35

UINT8

RO

0x06 (6dec)

1422:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 35

OCTET-STRING[2]

RO

20 16

Index 1430 AO RxPDO-Par Standard (INT16) Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1430:0

AO RxPDO-Par Standard (INT16) Ch.4

PDO Parameter RxPDO 49

UINT8

RO

0x06 (6dec)

1430:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 49

OCTET-STRING[2]

RO

32 16

Index 1432 AO RxPDO-Par Standard (Real32) Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1432:0

AO RxPDO-Par Standard (Real32) Ch.4

PDO Parameter RxPDO 51

UINT8

RO

0x06 (6dec)

1432:06

Exclude PDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 51

OCTET-STRING[2]

RO

30 16

Index 1600 AI RxPDO-Map Control Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

AI RxPDO-Map Control Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x04 (4dec)

1600:01

SubIndex 001

1. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (AI Outputs Ch.1), entry 0x04 (Tare))

UINT32

RO

0x7000:04, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (AI Outputs Ch.1), entry 0x05 (Peak Hold Reset))

UINT32

RO

0x7000:05, 1

1600:04

SubIndex 004

4. PDO Mapping entry (11 bits align)

UINT32

RO

0x0000:00, 11

Index 1610 AI RxPDO-Map Control Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1610:0

AI RxPDO-Map Control Ch.2

PDO Mapping RxPDO 17

UINT8

RO

0x04 (4dec)

1610:01

SubIndex 001

1. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1610:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (AI Outputs Ch.2), entry 0x04 (Tare))

UINT32

RO

0x7010:04, 1

1610:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (AI Outputs Ch.2), entry 0x05 (Peak Hold Reset))

UINT32

RO

0x7010:05, 1

1610:04

SubIndex 004

4. PDO Mapping entry (11 bits align)

UINT32

RO

0x0000:00, 11

Index 1620 AO RxPDO-Map Standard (INT16) Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1620:0

AO RxPDO-Map Standard (INT16) Ch.3

PDO Mapping RxPDO 33

UINT8

RO

0x01 (1dec)

1620:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (AO Outputs Ch.3), entry 0x11 (Value))

UINT32

RO

0x7020:11, 16

Index 1622 AO RxPDO-Map Standard (Real32) Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1622:0

AO RxPDO-Map Standard (Real32) Ch.3

PDO Mapping RxPDO 35

UINT8

RO

0x01 (1dec)

1622:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (AO Outputs Ch.1), entry 0x13 (Value (Real32)))

UINT32

RO

0x7020:13, 32

Index 1623 AO RxPDO-Map Cycle Counter Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1623:0

AO RxPDO-Map Cycle Counter Ch.3

PDO Mapping RxPDO 36

UINT8

RO

0x01 (1dec)

1623:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (AO Outputs Ch.3), entry 0x14 (Output Cycle Counter))

UINT32

RO

0x7020:14, 16

Index 1630 AO RxPDO-Map Standard (INT16) Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1630:0

AO RxPDO-Map Standard (INT16) Ch.4

PDO Mapping RxPDO 49

UINT8

RO

0x01 (1dec)

1630:01

SubIndex 001

1. PDO Mapping entry (object 0x7030 (AO Outputs Ch.4), entry 0x11 (Value))

UINT32

RO

0x7030:11, 16

Index 1632 AO RxPDO-Map Standard (Real32) Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1632:0

AO RxPDO-Map Standard (Real32) Ch.4

PDO Mapping RxPDO 51

UINT8

RO

0x01 (1dec)

1632:01

SubIndex 001

1. PDO Mapping entry (object 0x7030 (AO Outputs Ch.4), entry 0x13 (Value (Real32)))

UINT32

RO

0x7030:13, 32

Index 1633 AO RxPDO-Map Cycle Counter Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1633:0

AO RxPDO-Map Cycle Counter Ch.4

PDO Mapping RxPDO 52

UINT8

RO

0x01 (1dec)

1633:01

SubIndex 001

1. PDO Mapping entry (object 0x7030 (AO Outputs Ch.4), entry 0x14 (Output Cycle Counter))

UINT32

RO

0x7030:14, 16

Index 1800 AI TxPDO-Par Standard (INT16) Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1800:0

AI TxPDO-Par Standard (INT16) Ch.1

PDO parameter TxPDO 1

UINT8

RO

0x06 (6dec)

1800:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1

OCTET-STRING[6]

RO

01 1A 02 1A 03 1A

Index 1801 AI TxPDO-Par Compact (INT16) Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1801:0

AI TxPDO-Par Compact (INT16) Ch.1

PDO parameter TxPDO 2

UINT8

RO

0x06 (6dec)

1801:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2

OCTET-STRING[6]

RO

00 1A 02 1A 03 1A

Index 1802 AI TxPDO-Par Standard (Real32) Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1802:0

AI TxPDO-Par Standard (Real32) Ch.1

PDO parameter TxPDO 3

UINT8

RO

0x06 (6dec)

1802:06

Exclude TxPDOs

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

OCTET-STRING[6]

RO

00 1A 01 1A 03 1A

Index 1803 AI TxPDO-Par Compact (Real32) Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1803:0

AI TxPDO-Par Compact (Real32) Ch.1

PDO parameter TxPDO 4

UINT8

RO

0x06 (6dec)

1803:06

Exclude TxPDOs

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

OCTET-STRING[6]

RO

00 1A 01 1A 02 1A

Index 1810 AI TxPDO-Par Standard (INT16) Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1810:0

AI TxPDO-Par Standard (INT16) Ch.2

PDO parameter TxPDO 17

UINT8

RO

0x06 (6dec)

1810:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 17

OCTET-STRING[6]

RO

11 1A 12 1A 13 1A

Index 1811 AI TxPDO-Par Compact (INT16) Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1811:0

AI TxPDO-Par Compact (INT16) Ch.2

PDO parameter TxPDO 18

UINT8

RO

0x06 (6dec)

1811:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 18

OCTET-STRING[6]

RO

10 1A 12 1A 13 1A

Index 1812 AI TxPDO-Par Standard (Real32) Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1812:0

AI TxPDO-Par Standard (Real32) Ch.2

PDO parameter TxPDO 19

UINT8

RO

0x06 (6dec)

1812:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 19

OCTET-STRING[6]

RO

10 1A 11 1A 13 1A

Index 1813 AI TxPDO-Par Compact (Real32) Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1813:0

AI TxPDO-Par Compact (Real32) Ch.2

PDO parameter TxPDO 20

UINT8

RO

0x06 (6dec)

1813:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 20

OCTET-STRING[6]

RO

10 1A 11 1A 12 1A

Index 1A00 AI TxPDO-Map Standard (INT16) Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

AI TxPDO-Map Standard (INT16) Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x0B (11dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x01 (Underrange))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x02 (Overrange))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x03 (Limit 1))

UINT32

RO

0x6000:03, 2

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x05 (Limit 2))

UINT32

RO

0x6000:05, 2

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x07 (Error))

UINT32

RO

0x6000:07, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x0C (Tare Active))

UINT32

RO

0x6000:0C, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x0F (TxPDO State))

UINT32

RO

0x6000:0F, 1

1A00:0A

SubIndex 010

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

UINT32

RO

0x6000:10, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x11 (Value))

UINT32

RO

0x6000:11, 16

Index 1A01 AI TxPDO-Map Compact (INT16) Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

AI TxPDO-Map Compact (INT16) Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x01 (1dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x11 (Value))

UINT32

RO

0x6000:11, 16

Index 1A02 AI TxPDO-Map Standard (Real32) Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

AI TxPDO-Map Standard (Real32) Ch.1

PDO Mapping TxPDO 3

UINT8

RO

0x0B (11dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x01 (Underrange))

UINT32

RO

0x6000:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x02 (Overrange))

UINT32

RO

0x6000:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x03 (Limit 1))

UINT32

RO

0x6000:03, 2

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x05 (Limit 2))

UINT32

RO

0x6000:05, 2

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x07 (Error))

UINT32

RO

0x6000:07, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x0C (Tare Active))

UINT32

RO

0x6000:0C, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x0F (TxPDO State))

UINT32

RO

0x6000:0F, 1

1A02:0A

SubIndex 010

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

UINT32

RO

0x6000:10, 1

1A02:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x13 (Value (Real32)))

UINT32

RO

0x6000:13, 32

Index 1A03 AI TxPDO-Map Compact (Real32) Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

AI TxPDO-Map Compact (Real32) Ch.1

PDO Mapping TxPDO 4

UINT8

RO

0x01 (1dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x13 (Value (Real32)))

UINT32

RO

0x6000:13, 32

Index 1A04 AI TxPDO-Map Cycle Counter Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

AI TxPDO-Map Cycle Counter Ch.1

PDO Mapping TxPDO 5

UINT8

RO

0x01 (1dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x14 (Input Cycle Counter))

UINT32

RO

0x6000:14, 16

Index 1A10 AI TxPDO-Map Standard (INT16) Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A10:0

AI TxPDO-Map Standard (INT16) Ch.2

PDO Mapping TxPDO 17

UINT8

RO

0x0B (11dec)

1A10:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x01 (Underrange))

UINT32

RO

0x6010:01, 1

1A10:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x02 (Overrange))

UINT32

RO

0x6010:02, 1

1A10:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x03 (Limit 1))

UINT32

RO

0x6010:03, 2

1A10:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x05 (Limit 2))

UINT32

RO

0x6010:05, 2

1A10:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x07 (Error))

UINT32

RO

0x6010:07, 1

1A10:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A10:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x0C (Tare Active))

UINT32

RO

0x6010:0C, 1

1A10:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A10:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x0F (TxPDO State))

UINT32

RO

0x6010:0F, 1

1A10:0A

SubIndex 010

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

UINT32

RO

0x6010:10, 1

1A10:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x11 (Value))

UINT32

RO

0x6010:11, 16

Index 1A11 AI TxPDO-Map Compact (INT16) Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A11:0

AI TxPDO-Map Compact (INT16) Ch.2

PDO Mapping TxPDO 18

UINT8

RO

0x01 (1dec)

1A11:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x11 (Value))

UINT32

RO

0x6010:11, 16

Index 1A12 AI TxPDO-Map Standard (Real32) Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A12:0

AI TxPDO-Map Standard (Real32) Ch.2

PDO Mapping TxPDO 19

UINT8

RO

0x0B (11dec)

1A12:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x01 (Underrange))

UINT32

RO

0x6010:01, 1

1A12:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x02 (Overrange))

UINT32

RO

0x6010:02, 1

1A12:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x03 (Limit 1))

UINT32

RO

0x6010:03, 2

1A12:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x05 (Limit 2))

UINT32

RO

0x6010:05, 2

1A12:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x07 (Error))

UINT32

RO

0x6010:07, 1

1A12:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A12:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x0C (Tare Active))

UINT32

RO

0x6010:0C, 1

1A12:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A12:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x0F (TxPDO State))

UINT32

RO

0x6010:0F, 1

1A12:0A

SubIndex 010

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

UINT32

RO

0x6010:10, 1

1A12:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x13 (Value (Real32)))

UINT32

RO

0x6010:13, 32

Index 1A13 AI TxPDO-Map Compact (Real32) Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A13:0

AI TxPDO-Map Compact (Real32) Ch.2

PDO Mapping TxPDO 20

UINT8

RO

0x01 (1dec)

1A13:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x13 (Value (Real32)))

UINT32

RO

0x6010:13, 32

Index 1A14 AI TxPDO-Map Cycle Counter Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A14:0

AI TxPDO-Map Cycle Counter Ch.2

PDO Mapping TxPDO 21

UINT8

RO

0x01 (1dec)

1A14:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x14 (Input Cycle Counter))

UINT32

RO

0x6010:14, 16

Index 1A20 AO TxPDO-Map Status Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A20:0

AO TxPDO-Map Status Ch.3

PDO Mapping TxPDO 33

UINT8

RO

0x08 (8dec)

1A20:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A20:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (AO Inputs Ch.3), entry 0x02 (Output Overload))

UINT32

RO

0x6020:02, 1

1A20:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (AO Inputs Ch.3), entry 0x03 (Underrange))

UINT32

RO

0x6020:03, 1

1A20:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (AO Inputs Ch.3), entry 0x04 (Overrange))

UINT32

RO

0x6020:04, 1

1A20:05

SubIndex 005

5. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A20:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (AO Inputs Ch.3), entry 0x06 (Warning))

UINT32

RO

0x6020:06, 1

1A20:07

SubIndex 007

7. PDO Mapping entry (object 0x6020 (AO Inputs Ch.3), entry 0x07 (Error))

UINT32

RO

0x6020:07, 1

1A20:08

SubIndex 008

8. PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

Index 1A30 AO TxPDO-Map Status Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A30:0

AO TxPDO-Map Status Ch.4

PDO Mapping TxPDO 49

UINT8

RO

0x08 (8dec)

1A30:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A30:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (AO Inputs Ch.4), entry 0x02 (Output Overload))

UINT32

RO

0x6030:02, 1

1A30:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (AO Inputs Ch.4), entry 0x03 (Underrange))

UINT32

RO

0x6030:03, 1

1A30:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (AO Inputs Ch.4), entry 0x04 (Overrange))

UINT32

RO

0x6030:04, 1

1A30:05

SubIndex 005

5. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A30:06

SubIndex 006

6. PDO Mapping entry (object 0x6030 (AO Inputs Ch.4), entry 0x06 (Warning))

UINT32

RO

0x6030:06, 1

1A30:07

SubIndex 007

7. PDO Mapping entry (object 0x6030 (AO Inputs Ch.4), entry 0x07 (Error))

UINT32

RO

0x6030:07, 1

1A30:08

SubIndex 008

8. PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

Index 1C00 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 1C12 RxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x02 (2dec)

1C12:01

Subindex 001

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

UINT16

RW

0x1622 (5666dec)

1C12:02

Subindex 002

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

UINT16

RW

0x1632 (5682dec)

1C12:03

Subindex 003

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

UINT16

RW

0x0000 (0dec)

1C12:04

Subindex 004

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

UINT16

RW

0x0000 (0dec)

1C12:05

Subindex 005

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

UINT16

RW

0x0000 (0dec)

1C12:06

Subindex 006

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

UINT16

RW

0x0000 (0dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x04 (4dec)

1C13:01

Subindex 001

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

UINT16

RW

0x1A02 (6658dec)

1C13:02

Subindex 002

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

UINT16

RW

0x1A12 (6674dec)

1C13:03

Subindex 003

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

UINT16

RW

0x1A20 (6688dec)

1C13:04

Subindex 004

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

UINT16

RW

0x1A30 (6704dec)

1C13:05

Subindex 005

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

UINT16

RW

0x0000 (0dec)

1C13:06

Subindex 006

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

UINT16

RW

0x0000 (0dec)

Index 1C32 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: Synchron with SM 2 Event
  • 2: DC-Mode - Synchron with SYNC0 Event
  • 3: DC-Mode - Synchron with SYNC1 Event

UINT16

RW

0x0000 (0dec)

1C32:02

Cycle time

Cycle time (in ns):

  • Free Run: cycle time of the local timer
  • Synchron with SM 2 Event: cycle time of the master
  • 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 0x1C32:08)

UINT16

RO

0x0001 (1dec)

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)

1C32:09

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

0x0000 (0dec)

1C33:02

Cycle time

UINT32

RW

0x000F4240 (1000000dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0dec)

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

0x0001 (1dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x000186A0 (100000dec)

1C33:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C33:09

Maximum delay time

Time between SYNC1 event and reading of the inputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

as 0x1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 0x1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 0x1C32:32

BOOLEAN

RO

0x00 (0dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

Code word (currently reserved)

UINT32

RW

0x00000000 (0dec)

Index F009 Password protection

Index (hex)

Name

Meaning

Data type

Flags

Default

F009:0

Password protection

Password protection user calibration

UINT32

RW

0x00000000 (0dec)