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

0x02011389 (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

EL5031‑0011

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

01

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

09

Index 1018 Identity

Index (hex)

Name

Meaning

Data type

Flags

Default

1018:0

Identity

Information for identifying the slave

UINT8

RO

 > 4 <

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

0x13A83052 (329789522dec)

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

0x00130000 (1245184dec)

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 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

 > 1 <

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000D06 (3334dec)

Index 1810 FB TxPDO-Par 1 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1810:0

FB TxPDO-Par 1 Samples Position

PDO parameter TxPDO 3

UINT8

RO

> 6 <

1810:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1811 FB TxPDO-Par 1 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1811:0

FB TxPDO-Par 1 Samples Position compact

PDO parameter TxPDO 4

UINT8

RO

> 6 <

1811:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

10 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1812 FB TxPDO-Par 2 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1812:0

FB TxPDO-Par 2 Samples Position

PDO parameter TxPDO 5

UINT8

RO

> 6 <

1812:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

10 1A 11 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1813 FB TxPDO-Par 2 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1813:0

FB TxPDO-Par 2 Samples Position compact

PDO parameter TxPDO 6

UINT8

RO

> 6 <

1813:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1814 FB TxPDO-Par 4 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1814:0

FB TxPDO-Par 4 Samples Position

PDO parameter TxPDO 7

UINT8

RO

> 6 <

1814:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 7

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1815 FB TxPDO-Par 4 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1815:0

FB TxPDO-Par 4 Samples Position compact

PDO parameter TxPDO 8

UINT8

RO

> 6 <

1815:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 8

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1816 FB TxPDO-Par 5 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1816:0

FB TxPDO-Par 5 Samples Position

PDO parameter TxPDO 9

UINT8

RO

> 6 <

1816:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 9

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1817 FB TxPDO-Par 5 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1817:0

FB TxPDO-Par 5 Samples Position compact

PDO parameter TxPDO 10

UINT8

RO

> 6 <

1817:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 10

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1818 FB TxPDO-Par 8 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1818:0

FB TxPDO-Par 8 Samples Position

PDO parameter TxPDO 11

UINT8

RO

> 6 <

1818:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 11

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1819 FB TxPDO-Par 8 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1819:0

FB TxPDO-Par 8 Samples Position compact

PDO parameter TxPDO 12

UINT8

RO

> 6 <

1819:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 12

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 181A FB TxPDO-Par 10 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

181A:0

FB TxPDO-Par 10 Samples Position

PDO parameter TxPDO 13

UINT8

RO

> 6 <

181A:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 13

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 181B FB TxPDO-Par 10 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

181B:0

FB TxPDO-Par 10 Samples Position compact

PDO parameter TxPDO 14

UINT8

RO

> 6 <

181B:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 14

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 181C FB TxPDO-Par 16 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

181C:0

FB TxPDO-Par 16 Samples Position

PDO parameter TxPDO 15

UINT8

RO

> 6 <

181C:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 15

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 181D FB TxPDO-Par 16 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

181D:0

FB TxPDO-Par 16 Samples Position compact

PDO parameter TxPDO 16

UINT8

RO

> 6 <

181D:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 16

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 181E FB TxPDO-Par 20 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

181E:0

FB TxPDO-Par 20 Samples Position

PDO parameter TxPDO 17

UINT8

RO

> 6 <

181E:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1F 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 181F FB TxPDO-Par 20 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

181F:0

FB TxPDO-Par 20 Samples Position compact

PDO parameter TxPDO 18

UINT8

RO

> 6 <

181F:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 20 1A 21 1A 23 1A 25 1A 27 1A

Index 1820 FB TxPDO-Par 25 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1820:0

FB TxPDO-Par 25 Samples Position

PDO parameter TxPDO 19

UINT8

RO

> 6 <

1820:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 21 1A 23 1A 25 1A 27 1A

Index 1821 FB TxPDO-Par 25 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1821:0

FB TxPDO-Par 25 Samples Position compact

PDO parameter TxPDO 20

UINT8

RO

> 6 <

1821:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 23 1A 25 1A 27 1A

Index 1823 FB TxPDO-Par 32 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1823:0

FB TxPDO-Par 32 Samples Position compact

PDO parameter TxPDO 21

UINT8

RO

> 6 <

1823:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 21

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 25 1A 27 1A

Index 1825 FB TxPDO-Par 40 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1825:0

FB TxPDO-Par 40 Samples Position compact

PDO parameter TxPDO 22

UINT8

RO

> 6 <

1825:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 22

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 27 1A

Index 1827 FB TxPDO-Par 50 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1827:0

FB TxPDO-Par 50 Samples Position compact

PDO parameter TxPDO 23

UINT8

RO

> 6 <

1827:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transmitted together with TxPDO 23

OCTET-STRING[2]

RO

10 1A 11 1A 12 1A 13 1A 14 1A 15 1A 16 1A 17 1A 18 1A 19 1A 1A 1A 1B 1A 1C 1A 1D 1A 1E 1A 1F 1A 20 1A 21 1A 23 1A 25 1A

Index 1A00 FB TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

FB TxPDO-Map Inputs

PDO Mapping TxPDO 1

UINT8

RO

> 8 <

1A00:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x02 (Error))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x03 (Ready))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A00:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x0D (Diag))

UINT32

RO

0x6000:0D, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x0E (TxPDO State))

UINT32

RO

0x6000:0E, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x0F (Input cycle counter))

UINT32

RO

0x6000:0F, 2

Index 1A01 FB Inputs NextSyncTime

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

FB Inputs NextSyncTime

PDO Mapping TxPDO 2

UINT8

RO

> 1 <

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x16 (StartTimeNextLatch))

UINT32

RO

0x6000:16, 64

Index 1A10 FB TxPDO-Map 1 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A10:0

FB TxPDO-Map 1 Samples Position

PDO Mapping TxPDO 4

UINT8

RO

> 1 <

1A10:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

Index 1A11 FB TxPDO-Map 1 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A11:0

FB TxPDO-Map 1 Samples Position compact

PDO Mapping TxPDO 5

UINT8

RO

> 1 <

1A11:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A12 FB TxPDO-Map 2 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A12:0

FB TxPDO-Map 2 Samples Position

PDO Mapping TxPDO 6

UINT8

RO

> 2 <

1A12:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

1A12:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

Index 1A13 FB TxPDO-Map 2 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A13:0

FB TxPDO-Map 2 Samples Position compact

PDO Mapping TxPDO 7

UINT8

RO

> 2 <

1A13:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

1A13:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A14 FB TxPDO-Map 4 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A14:0

FB TxPDO-Map 4 Samples Position

PDO Mapping TxPDO 8

UINT8

RO

> 4 <

1A14:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

…

…

…

 

 

 

1A14:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

Index 1A15 FB TxPDO-Map 4 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A15:0

FB TxPDO-Map 4 Samples Position compact

PDO Mapping TxPDO 9

UINT8

RO

> 4 <

1A15:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A15:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A16 FB TxPDO-Map 5 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A16:0

FB TxPDO-Map 5 Samples Position

PDO Mapping TxPDO 10

UINT8

RO

> 5 <

1A16:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

…

…

…

 

 

 

1A16:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

Index 1A17 FB TxPDO-Map 5 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A17:0

FB TxPDO-Map 5 Samples Position compact

PDO Mapping TxPDO 11

UINT8

RO

> 5 <

1A17:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A17:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A18 FB TxPDO-Map 8 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A18:0

FB TxPDO-Map 8 Samples Position

PDO Mapping TxPDO 12

UINT8

RO

> 8 <

1A18:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

…

…

…

 

 

 

1A18:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

Index 1A19 FB TxPDO-Map 8 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A19:0

FB TxPDO-Map 8 Samples Position compact

PDO Mapping TxPDO 13

UINT8

RO

> 8 <

1A19:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A19:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A1A FB TxPDO-Map 10 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1A:0

FB TxPDO-Map 10 Samples Position

PDO Mapping TxPDO 14

UINT8

RO

> 10 <

1A1A:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

…

…

…

 

 

 

1A1A:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

Index 1A1B FB TxPDO-Map 10 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1B:0

FB TxPDO-Map 10 Samples Position compact

PDO Mapping TxPDO 15

UINT8

RO

> 10 <

1A1B:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A1B:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A1C FB TxPDO-Map 16 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1C:0

FB TxPDO-Map 16 Samples Position

PDO Mapping TxPDO 16

UINT8

RO

> 16 <

1A1C:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

…

…

…

 

 

 

1A1C:10

SubIndex 016

16. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

Index 1A1D FB TxPDO-Map 16 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1D:0

FB TxPDO-Map 16 Samples Position compact

PDO Mapping TxPDO 17

UINT8

RO

> 16 <

1A1D:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A1D:10

SubIndex 016

16. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A1E FB TxPDO-Map 20 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1E:0

FB TxPDO-Map 20 Samples Position

PDO Mapping TxPDO 18

UINT8

RO

> 20 <

1A1E:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

…

…

…

 

 

 

1A1E:14

SubIndex 020

20. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

Index 1A1F FB TxPDO-Map 20 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1F:0

FB TxPDO-Map 20 Samples Position compact

PDO Mapping TxPDO 19

UINT8

RO

> 20 <

1A1F:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A1F:14

SubIndex 020

20. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A20 FB TxPDO-Map 25 Samples Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A20:0

FB TxPDO-Map 25 Samples Position

PDO Mapping TxPDO 20

UINT8

RO

> 25 <

1A20:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

…

…

…

 

 

 

1A20:19

SubIndex 025

25. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 64

Index 1A21 FB TxPDO-Map 25 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A21:0

FB TxPDO-Map 25 Samples Position compact

PDO Mapping TxPDO 21

UINT8

RO

> 25 <

1A21:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A21:19

SubIndex 025

25. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A23 FB TxPDO-Map 32 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A23:0

FB TxPDO-Map 32 Samples Position compact

PDO Mapping TxPDO 22

UINT8

RO

> 32 <

1A23:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A23:20

SubIndex 032

32. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A25 FB TxPDO-Map 40 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A25:0

FB TxPDO-Map 40 Samples Position compact

PDO Mapping TxPDO 23

UINT8

RO

> 40 <

1A25:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A25:28

SubIndex 040

40. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1A27 FB TxPDO-Map 50 Samples Position compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A27:0

FB TxPDO-Map 50 Samples Position compact

PDO Mapping TxPDO 23

UINT8

RO

> 50 <

1A27:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

…

…

…

 

 

 

1A27:32

SubIndex 050

50. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Position (uint32)))

UINT32

RO

0x6000:12, 32

Index 1C00 Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Using the sync managers

UINT8

RO

> 4 <

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

> 0 <

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

> 3 <

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

0x1A01 (6657dec)

1C13:02

Subindex 003

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

UINT16

RW

0x1A10 (6672dec)

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

> 32 <

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

0x0002 (2dec)

1C33:02

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)

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 0x1C33:08)

UINT16

RO

0x4C04 (19460dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

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

0x000186A0 (100000dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C33:08

Get cycle time

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

The entries 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 (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

Number of missed SM events in OPERATIONAL (DC mode only)

UINT16

RO

0x0000 (0dec)

1C33:0C

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)

1C33:0D

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)

1C33:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late; DC mode only)

BOOLEAN

RO

0x00 (0dec)

Index F000 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

> 2 <

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

0x0001 (1dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

see object 0x80p8:13

UINT32

RW

0x00000000 (0dec)

Index FB40 Memory interface

Index (hex)

Name

Meaning

Data type

Flags

Default

FB40:0

Memory interface

Max. subindex

UINT8

RO

> 3 <

FB40:01

Address

reserved

UINT32

RW

0x00000000 (0dec)

FB40:02

Length

reserved

UINT16

RW

0x0000 (0dec)

FB40:03

Data

reserved

OCTET-STRING[8]

RW

{0}