Standard objects

The standard objects have the same meaning for all EtherCAT slaves.

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 CoE profile used (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

EL5101-0011

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

-

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

-

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

0x13ED3052 (334311506dec)

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 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 1600 ENC RxPDO-Map Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

ENC RxPDO-Map Control

PDO Mapping RxPDO 1

UINT8

RO

0x04 (4dec)

1600:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x03 (Set counter))

UINT32

RO

0x7000:03, 1

1600:03

SubIndex 003

3. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 13

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (ENC Outputs), entry 0x11 (Set counter value))

UINT32

RO

0x7000:11, 32

Index 1810 ENC TxPDO-Par TxPdo 1 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1810:0

ENC TxPDO-Par TxPdo 1 Samples Counter value

PDO Parameter TxPDO 17

UINT8

RO

0x06 (6dec)

1810:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must be transferred together with TxPDO 17.

OCTET-STRING[28]

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

Index 1811 ENC TxPDO-Par TxPdo 2 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1811:0

ENC TxPDO-Par TxPdo 2 Samples Counter value

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[28]

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

Index 1812 ENC TxPDO-Par TxPdo 4 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1812:0

ENC TxPDO-Par TxPdo 4 Samples Counter value

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[28]

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

Index 1813 ENC TxPDO-Par TxPdo 5 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1813:0

ENC TxPDO-Par TxPdo 5 Samples Counter value

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[28]

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

Index 1814 ENC TxPDO-Par TxPdo 8 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1814:0

ENC TxPDO-Par TxPdo 8 Samples Counter value

PDO Parameter TxPDO 21

UINT8

RO

0x06 (6dec)

1814:06

Exclude TxPDOs

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

OCTET-STRING[28]

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

Index 1815 ENC TxPDO-Par TxPdo 10 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1815:0

ENC TxPDO-Par TxPdo 10 Samples Counter value

PDO Parameter TxPDO 22

UINT8

RO

0x06 (6dec)

1815:06

Exclude TxPDOs

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

OCTET-STRING[28]

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

Index 1816 ENC TxPDO-Par TxPdo 16 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1816:0

ENC TxPDO-Par TxPdo 16 Samples Counter value

PDO Parameter TxPDO 23

UINT8

RO

0x06 (6dec)

1816:06

Exclude TxPDOs

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

OCTET-STRING[28]

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

Index 1817 ENC TxPDO-Par TxPdo 20 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1817:0

ENC TxPDO-Par TxPdo 20 Samples Counter value

PDO Parameter TxPDO 24

UINT8

RO

0x06 (6dec)

1817:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 24.

OCTET-STRING[28]

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

Index 1818 ENC TxPDO-Par TxPdo 25 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1818:0

ENC TxPDO-Par TxPdo 25 Samples Counter value

PDO Parameter TxPDO 25

UINT8

RO

0x06 (6dec)

1818:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 25.

OCTET-STRING[28]

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

Index 1819 ENC TxPDO-Par TxPdo 32 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1819:0

ENC TxPDO-Par TxPdo 32 Samples Counter value

PDO Parameter TxPDO 26

UINT8

RO

0x06 (6dec)

1819:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 26.

OCTET-STRING[28]

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

Index 181A ENC TxPDO-Par TxPdo 40 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

181A:0

ENC TxPDO-Par TxPdo 40 Samples Counter value

PDO Parameter TxPDO 27

UINT8

RO

0x06 (6dec)

181A:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 27.

OCTET-STRING[28]

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

Index 181B ENC TxPDO-Par TxPdo 50 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

181B:0

ENC TxPDO-Par TxPdo 50 Samples Counter value

PDO Parameter TxPDO 28

UINT8

RO

0x06 (6dec)

181B:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 28.

OCTET-STRING[28]

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

Index 181C ENC TxPDO-Par TxPdo 64 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

181C:0

ENC TxPDO-Par TxPdo 64 Samples Counter value

PDO Parameter TxPDO 29

UINT8

RO

0x06 (6dec)

181C:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 29.

OCTET-STRING[28]

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

Index 181D ENC TxPDO-Par TxPdo 80 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

181D:0

ENC TxPDO-Par TxPdo 80 Samples Counter value

PDO Parameter TxPDO 30

UINT8

RO

0x06 (6dec)

181D:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 30.

OCTET-STRING[28]

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

Index 181E ENC TxPDO-Par TxPdo 100 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

181E:0

ENC TxPDO-Par TxPdo 100 Samples Counter value

PDO Parameter TxPDO 31

UINT8

RO

0x06 (6dec)

181E:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 31.

OCTET-STRING[28]

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

Index 1A00 ENC TxPDO-Map Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

ENC TxPDO-Map Status

PDO Mapping TxPDO 1

UINT8

RO

0x0C (12dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x03 (Set counter done))

UINT32

RO

0x6000:03, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x07 (Open circuit))

UINT32

RO

0x6000:07, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (1 bit align)

UINT32

RO

0x0000:00, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x09 (Status of input A))

UINT32

RO

0x6000:09, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0A (Status of input B))

UINT32

RO

0x6000:0A, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))

UINT32

RO

0x6000:0B, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0E (Sync error))

UINT32

RO

0x6000:0E, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6000:0F, 1

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6000:10, 1

Index 1A01 ENC TxPDO-Map NextSync1Time

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

ENC TxPDO-Map NextSync1Time

PDO Mapping TxPDO 2

UINT8

RO

0x01 (1dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x19 (StartTimeNextLatch))

UINT32

RO

0x6000:19, 64

Index 1A10 ENC TxPDO-Map TxPdo 1 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A10:0

ENC TxPDO-Map TxPdo 1 Samples Counter value

PDO Mapping TxPDO 17

UINT8

RO

0x01 (1dec)

1A10:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A11 ENC TxPDO-Map TxPdo 2 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A11:0

ENC TxPDO-Map TxPdo 2 Samples Counter value

PDO Mapping TxPDO 18

UINT8

RO

0x02 (2dec)

1A11:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

1A11:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A12 ENC TxPDO-Map TxPdo 4 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A12:0

ENC TxPDO-Map TxPdo 4 Samples Counter value

PDO Mapping TxPDO 19

UINT8

RO

0x04 (4dec)

1A12:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A12:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A13 ENC TxPDO-Map TxPdo 5 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A13:0

ENC TxPDO-Map TxPdo 5 Samples Counter value

PDO Mapping TxPDO 20

UINT8

RO

0x05 (5dec)

1A13:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A13:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A14 ENC TxPDO-Map TxPdo 8 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A14:0

ENC TxPDO-Map TxPdo 8 Samples Counter value

PDO Mapping TxPDO 21

UINT8

RO

0x08 (8dec)

1A14:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A14:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A15 ENC TxPDO-Map TxPdo 10 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A15:0

ENC TxPDO-Map TxPdo 10 Samples Counter value

PDO Mapping TxPDO 22

UINT8

RO

0x0A (10dec)

1A15:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A15:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A16 ENC TxPDO-Map TxPdo 16 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A16:0

ENC TxPDO-Map TxPdo 16 Samples Counter value

PDO Mapping TxPDO 23

UINT8

RO

0x10 (16dec)

1A16:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A16:10

SubIndex 016

16. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A17 ENC TxPDO-Map TxPdo 20 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A17:0

ENC TxPDO-Map TxPdo 20 Samples Counter value

PDO Mapping TxPDO 24

UINT8

RO

0x14 (20dec)

1A17:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A17:14

SubIndex 020

20. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A18 ENC TxPDO-Map TxPdo 25 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A18:0

ENC TxPDO-Map TxPdo 25 Samples Counter value

PDO Mapping TxPDO 25

UINT8

RO

0x19 (25dec)

1A18:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A18:19

SubIndex 025

25. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A19 ENC TxPDO-Map TxPdo 32 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A19:0

ENC TxPDO-Map TxPdo 32 Samples Counter value

PDO Mapping TxPDO 26

UINT8

RO

0x20 (32dec)

1A19:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A19:20

SubIndex 032

32. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A1A ENC TxPDO-Map TxPdo 40 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1A:0

ENC TxPDO-Map TxPdo 40 Samples Counter value

PDO Mapping TxPDO 27

UINT8

RO

0x28 (40dec)

1A1A:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A1A:28

SubIndex 040

40. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A1B ENC TxPDO-Map TxPdo 50 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1B:0

ENC TxPDO-Map TxPdo 50 Samples Counter value

PDO Mapping TxPDO 28

UINT8

RO

0x32 (50dec)

1A1B:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A1B:32

SubIndex 050

50. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A1C ENC TxPDO-Map TxPdo 64 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1C:0

ENC TxPDO-Map TxPdo 64 Samples Counter value

PDO Mapping TxPDO 29

UINT8

RO

0x40 (64dec)

1A1C:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A1C:40

SubIndex 064

64. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A1D ENC TxPDO-Map TxPdo 80 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1D:0

ENC TxPDO-Map TxPdo 80 Samples Counter value

PDO Mapping TxPDO 30

UINT8

RO

0x50 (80dec)

1A1D:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A1D:50

SubIndex 080

80. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

Index 1A1E ENC TxPDO-Map TxPdo 100 Samples Counter value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A1E:0

ENC TxPDO-Map TxPdo 100 Samples Counter value

PDO Mapping TxPDO 31

UINT8

RO

0x64 (100dec)

1A1E:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

…

…

…

…

…

..

1A1E:64

SubIndex 100

100. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 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

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

0x01 (1dec)

1C12:01

SubIndex 001

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

UINT16

RW

0x1600 (5632dec)

Index 1C13 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

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

UINT16

RW

0x1A00 (6656dec)

1C13:02

SubIndex 002

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

UINT16

RW

0x1A01 (6657dec)

1C13:03

SubIndex 003

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

UINT16

RW

0x1A10 (6672dec)

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

0x0001 (1dec)

1C32:02

Cycle time

Cycle time (in ns):

  • Free Run: Cycle time of the local timer
  • Synchronous with SM 2 event: Master cycle time
  • DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x00000000 (0dec)

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: Synchronous 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

0xC007 (49159dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0dec)

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

With this entry the real required process data provision time can be measured.

  • 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, and 0x1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (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: Synchronous with SM 3 event (no outputs available)
  • 2: DC - Synchron with SYNC0 Event
  • 3: DC - Synchron with SYNC1 Event
  • 34: Synchronous with SM 2 event (outputs available)

UINT16

RW

0x0022 (34dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

0x00000000 (0dec)

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 0x1C32:08 or 0x1C33:08)

UINT16

RO

0xC007 (49159dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x00000000 (0dec)

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 0x1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

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 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 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

0x02 (2dec)

F000:01

Module index distance

Index spacing 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

reserved

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index (hex)

Name

Meaning

Data type

Flags

Default

F010:0

Module list

Maximum subindex

UINT8

RW

0x02 (2dec)

F010:01

SubIndex 001

Profile 510

UINT32

RW

0x000001FF (511dec)

Index F082 MDP Profile Compatibility

Index (hex)

Name

Meaning

Data type

Flags

Default

F082:0

MDP Profile Compatibility

 Maximum subindex

UINT8

RO

0x01 (1dec)

F082:01

Compatible input cycle counter

 -

BOOLEAN

RW

0x00 (0dec)