SM3 - Inputs (0x1A00 .. 0x1A19)

Channel 1 (0x1A00 .. 0x1A0C):

0x1A00 - ENC Status Channel 1 (16.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6000:01 - Status_Latch C valid (0.1)
0x6000:02 - Status_Latch extern valid (0.1)
0x6000:03 - Status_Set counter done (0.1)
0x6000:04 - Status_Counter underflow (0.1)
0x6000:05 - Status_Counter overflow (0.1)
0x6000:06 - Status_Status of input status (0.1)
0x6000:07 - Status_Open circuit (0.1)
0x6000:08 - Status_Extrapolation stall (0.1)
0x6000:09 - Status_Status of input A (0.1)
0x6000:0A - Status_Status of input B (0.1)
0x6000:0B - Status_Status of input C (0.1)
0x6000:0C - Status_Status of input gate (0.1)
0x6002:0D - Status_Status Diag (0.1)
0x6002:0E - Status_Status TxPDO State (0.1)
0x6002:0F - Status_Input cycle counter (0.2)
0x6002:11 - Status_Software gate valid (0.1)
0x6002:12 - Status_Latch extern 2 valid (0.1)
0x6002:13 - Status_Direction inversion detected (0.1)
0x6002:14 - Status_Status of extern Latch (0.1)
0x6002:15 - Status_Counter value out of range (0.1)

0x6000:11 - Counter value (4.0)
0x6000:12 - Latch value (4.0)
0x6000:22 - Latch value 2 (4.0)

0x1A01 - ENC Status Compact Channel 1 (10.0)

0x1A02 - ENC Status Counter Channel 1 (8.0)

0x1A03 - ENC Status Compact Counter Channel 1 (6.0)

0x1A04 - ENC Status Legacy Channel 1 (10.0)

0x1A05 - ENC Status Compact Legacy Channel 1 (6.0)

0x1A01 - ENC Status Compact Channel 1 (10.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6000:01 - Status_Latch C valid (0.1)
0x6000:02 - Status_Latch extern valid (0.1)
0x6000:03 - Status_Set counter done (0.1)
0x6000:04 - Status_Counter underflow (0.1)
0x6000:05 - Status_Counter overflow (0.1)
0x6000:06 - Status_Status of input status (0.1)
0x6000:07 - Status_Open circuit (0.1)
0x6000:08 - Status_Extrapolation stall (0.1)
0x6000:09 - Status_Status of input A (0.1)
0x6000:0A - Status_Status of input B (0.1)
0x6000:0B - Status_Status of input C (0.1)
0x6000:0C - Status_Status of input gate (0.1)
0x6002:0D - Status_Status Diag (0.1)
0x6002:0E - Status_Status TxPDO State (0.1)
0x6002:0F - Status_Input cycle counter (0.2)
0x6002:11 - Status_Software gate valid (0.1)
0x6002:12 - Status_Latch extern 2 valid (0.1)
0x6002:13 - Status_Direction inversion detected (0.1)
0x6002:14 - Status_Status of extern Latch (0.1)
0x6002:15 - Status_Counter value out of range (0.1)

0x6000:11 - Counter value (2.0)
0x6000:12 - Latch value (2.0)
0x6000:22 - Latch value 2 (2.0)

0x1A00 - ENC Status Channel 1 (16.0)

0x1A02 - ENC Status Counter Channel 1 (8.0)

0x1A03 - ENC Status Compact Counter Channel 1 (6.0)

0x1A04 - ENC Status Legacy Channel 1 (10.0)

0x1A05 - ENC Status Compact Legacy Channel 1 (6.0)

0x1A02 - ENC Status Counter Channel 1 (8.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6000:03 - Status_Set counter done (0.1)
0x6002:0D - Status_Status Diag (0.1)
0x6002:0E - Status_Status TxPDO State (0.1)
0x6002:0F - Status_Input cycle counter (0.2)
0x6002:11 - Status_Software gate valid (0.1)

0x6000:11 - Counter value (4.0)

0x1A00 - ENC Status Channel 1 (16.0)

0x1A01 - ENC Status Compact Channel 1 (10.0)

0x1A03 - ENC Status Compact Counter Channel 1 (6.0)

0x1A04 - ENC Status Legacy Channel 1 (10.0)

0x1A05 - ENC Status Compact Legacy Channel 1 (6.0)

0x1A03 - ENC Status Compact Counter Channel 1 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6000:03 - Status_Set counter done (0.1)
0x6002:0D - Status_Status Diag (0.1)
0x6002:0E - Status_Status TxPDO State (0.1)
0x6002:0F - Status_Input cycle counter (0.2)
0x6002:11 - Status_Software gate valid (0.1)

0x6000:11 - Counter value (2.0)

0x1A00 - ENC Status Channel 1 (16.0)

0x1A01 - ENC Status Compact Channel 1 (10.0)

0x1A02 - ENC Status Counter Channel 1 (8.0)

0x1A04 - ENC Status Legacy Channel 1 (10.0)

0x1A05 - ENC Status Compact Legacy Channel 1 (6.0)

0x1A04 - ENC Status Legacy Channel 1 (10.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6000:01 - Status_Latch C valid (0.1)
0x6000:02 - Status_Latch extern valid (0.1)
0x6000:03 - Status_Set counter done (0.1)
0x6000:04 - Status_Counter underflow (0.1)
0x6000:05 - Status_Counter overflow (0.1)
0x6000:06 - Status_Status of input status (0.1)
0x6000:07 - Status_Open circuit (0.1)
0x6000:08 - Status_Extrapolation stall (0.1)
0x6000:09 - Status_Status of input A (0.1)
0x6000:0A - Status_Status of input B (0.1)
0x6000:0B - Status_Status of input C (0.1)
0x6000:0C - Status_Status of input gate (0.1)
0x6000:0D - Status_Status of extern Latch(0.1)
0x6000:0E - Status_Sync error (0.1)
0x6000:0F - Status_ Status TxPDO State (0.1)
0x6000:10 - Status_ Status TxPDO Toggle (0.1)

0x6000:11 - Counter value (4.0)
0x6000:12 - Latch value (4.0)

0x1A00 - ENC Status Channel 1 (16.0)

0x1A01 - ENC Status Compact Channel 1 (10.0)

0x1A02 - ENC Status Counter Channel 1 (8.0)

0x1A03 - ENC Status Compact Counter Channel 1 (6.0)

0x1A05 - ENC Status Compact Legacy Channel 1 (6.0)

0x1A05 - ENC Status Compact Legacy Channel 1 (6.0)

Contents
Index - Name Size (Byte.Bit)

Excluded PDOs
Index - name size (byte.bit)

0x6000:01 - Status_Latch C valid (0.1)
0x6000:02 - Status_Latch extern valid (0.1)
0x6000:03 - Status_Set counter done (0.1)
0x6000:04 - Status_Counter underflow (0.1)
0x6000:05 - Status_Counter overflow (0.1)
0x6000:06 - Status_Status of input status (0.1)
0x6000:07 - Status_Open circuit (0.1)
0x6000:08 - Status_Extrapolation stall (0.1)
0x6000:09 - Status_Status of input A (0.1)
0x6000:0A - Status_Status of input B (0.1)
0x6000:0B - Status_Status of input C (0.1)
0x6000:0C - Status_Status of input gate (0.1)
0x6000:0D - Status_Status of extern Latch(0.1)
0x6000:0E - Status_Sync error (0.1)
0x6000:0F - Status_ Status TxPDO State (0.1)
0x6000:10 - Status_ Status TxPDO Toggle (0.1)

0x6000:11 - Counter value (2.0)
0x6000:12 - Latch value (2.0)

0x1A00 - ENC Status Channel 1 (16.0)

0x1A01 - ENC Status Compact Channel 1 (10.0)

0x1A02 - ENC Status Counter Channel 1 (8.0)

0x1A03 - ENC Status Compact Counter Channel 1 (6.0)

0x1A04 - ENC Status Legacy Channel 1 (10.0)

0x1A06 - ENC Frequency Channel 1 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6000:13 - Frequency value (4.0)

0x1A07 - ENC Frequency Compact Channel 1 (2.0)

0x1A07 - ENC Frequency Compact Channel 1 (2.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6000:13 - Frequency value (2.0)

0x1A06 - ENC Frequency Channel 1 (4.0)

0x1A08 - ENC Period Channel 1 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6000:14 - Period value (4.0)

0x1A09 - ENC Period Compact Channel 1 (2.0)

0x1A09 - ENC Period Compact Channel 1 (2.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6000:14 - Period value (2.0)

0x1A08 - ENC Period Channel 1 (4.0)

0x1A0A - ENC Duty Cycle Channel 1 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6000:23 - Duty cycle (2.0)
0x6000:24 - Duty cycle min (2.0)
0x6002:25 - Duty cycle max (2.0)

-

0x1A0B - ENC Timestamp Channel 1 (32.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6000:16 - Timestamp (8.0)
0x6000:1F - Timestamp C (8.0)
0x6000:20 - Timestamp latch (8.0)
0x6000:21 - Timestamp latch 2 (8.0)

0x1A0C - ENC Timestamp Compact Channel 1 (16.0)

0x1A0C - ENC Timestamp Compact Channel 1 (16.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6000:16 - Timestamp (4.0)
0x6000:1F - Timestamp C (4.0)
0x6000:20 - Timestamp latch (4.0)
0x6000:21 - Timestamp latch 2 (4.0)

0x1A0B - ENC Timestamp Channel 1 (32.0)

Channel 2 (0x1A0D .. 0x1A19):

0x1A0D - ENC Status Channel 2 (16.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6010:01 - Status_Latch C valid (0.1)
0x6010:02 - Status_Latch extern valid (0.1)
0x6010:03 - Status_Set counter done (0.1)
0x6010:04 - Status_Counter underflow (0.1)
0x6010:05 - Status_Counter overflow (0.1)
0x6010:06 - Status_Status of input status (0.1)
0x6010:07 - Status_Open circuit (0.1)
0x6010:08 - Status_Extrapolation stall (0.1)
0x6010:09 - Status_Status of input A (0.1)
0x6010:0A - Status_Status of input B (0.1)
0x6010:0B - Status_Status of input C (0.1)
0x6010:0C - Status_Status of input gate (0.1)
0x6012:0D - Status_Status Diag (0.1)
0x6012:0E - Status_Status TxPDO State (0.1)
0x6012:0F - Status_Input cycle counter (0.2)
0x6012:11 - Status_Software gate valid (0.1)
0x6012:12 - Status_Latch extern 2 valid (0.1)
0x6012:13 - Status_Direction inversion detected (0.1)
0x6012:14 - Status_Status of extern Latch (0.1)
0x6012:15 - Status_Counter value out of range (0.1)

0x6010:11 - Counter value (4.0)
0x6010:12 - Latch value (4.0)
0x6010:22 - Latch value 2 (4.0)

0x1A0E - ENC Status Compact Channel 2 (10.0)

0x1A0F - ENC Status Counter Channel 2 (8.0)

0x1A10 - ENC Status Compact Counter Channel 2 (6.0)

0x1A11 - ENC Status Legacy Channel 2 (10.0)

0x1A12 - ENC Status Compact Legacy Channel 2 (6.0)

0x1A0E - ENC Status Compact Channel 2 (10.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6010:01 - Status_Latch C valid (0.1)
0x6010:02 - Status_Latch extern valid (0.1)
0x6010:03 - Status_Set counter done (0.1)
0x6010:04 - Status_Counter underflow (0.1)
0x6010:05 - Status_Counter overflow (0.1)
0x6010:06 - Status_Status of input status (0.1)
0x6010:07 - Status_Open circuit (0.1)
0x6010:08 - Status_Extrapolation stall (0.1)
0x6010:09 - Status_Status of input A (0.1)
0x6010:0A - Status_Status of input B (0.1)
0x6010:0B - Status_Status of input C (0.1)
0x6010:0C - Status_Status of input gate (0.1)
0x6012:0D - Status_Status Diag (0.1)
0x6012:0E - Status_Status TxPDO State (0.1)
0x6012:0F - Status_Input cycle counter (0.2)
0x6012:11 - Status_Software gate valid (0.1)
0x6012:12 - Status_Latch extern 2 valid (0.1)
0x6012:13 - Status_Direction inversion detected (0.1)
0x6012:14 - Status_Status of extern Latch (0.1)
0x6012:15 - Status_Counter value out of range (0.1)

0x6010:11 - Counter value (2.0)
0x6010:12 - Latch value (2.0)
0x6010:22 - Latch value 2 (2.0)

0x1A0D - ENC Status Channel 2 (10.0)

0x1A0F - ENC Status Counter Channel 2 (8.0)

0x1A10 - ENC Status Compact Counter Channel 2 (6.0)

0x1A11 - ENC Status Legacy Channel 2 (10.0)

0x1A12 - ENC Status Compact Legacy Channel 2 (6.0)

0x1A0F - ENC Status Counter Channel 2 (8.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6010:03 - Status_Set counter done (0.1)
0x6012:0D - Status_Status Diag (0.1)
0x6012:0E - Status_Status TxPDO State (0.1)
0x6012:0F - Status_Input cycle counter (0.2)
0x6012:11 - Status_Software gate valid (0.1)

0x6010:11 - Counter value (4.0)

0x1A0D - ENC Status Channel 2 (10.0)

0x1A0E - ENC Status Compact Channel 2 (10.0)

0x1A10 - ENC Status Compact Counter Channel 2 (6.0)

0x1A11 - ENC Status Legacy Channel 2 (10.0)

0x1A12 - ENC Status Compact Legacy Channel 2 (6.0)

0x1A10 - ENC Status Compact Counter Channel 2 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6010:03 - Status_Set counter done (0.1)
0x6012:0D - Status_Status Diag (0.1)
0x6012:0E - Status_Status TxPDO State (0.1)
0x6012:0F - Status_Input cycle counter (0.2)
0x6012:11 - Status_Software gate valid (0.1)

0x6010:11 - Counter value (2.0)

0x1A0D - ENC Status Channel 2 (10.0)

0x1A0E - ENC Status Compact Channel 2 (10.0)

0x1A0F - ENC Status Counter Channel 2 (8.0)

0x1A11 - ENC Status Legacy Channel 2 (10.0)

0x1A12 - ENC Status Compact Legacy Channel 2 (6.0)

0x1A11 - ENC Status Legacy Channel 2 (10.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6010:01 - Status_Latch C valid (0.1)
0x6010:02 - Status_Latch extern valid (0.1)
0x6010:03 - Status_Set counter done (0.1)
0x6010:04 - Status_Counter underflow (0.1)
0x6010:05 - Status_Counter overflow (0.1)
0x6010:06 - Status_Status of input status (0.1)
0x6010:07 - Status_Open circuit (0.1)
0x6010:08 - Status_Extrapolation stall (0.1)
0x6010:09 - Status_Status of input A (0.1)
0x6010:0A - Status_Status of input B (0.1)
0x6010:0B - Status_Status of input C (0.1)
0x6010:0C - Status_Status of input gate (0.1)
0x6010:0D - Status_Status of extern Latch(0.1)
0x6010:0E - Status_Sync error (0.1)
0x6010:0F - Status_ Status TxPDO State (0.1)
0x6010:10 - Status_ Status TxPDO Toggle (0.1)

0x6010:11 - Counter value (4.0)
0x6010:12 - Latch value (4.0)

0x1A0D - ENC Status Channel 2 (10.0)

0x1A0E - ENC Status Compact Channel 2 (10.0)

0x1A0F - ENC Status Counter Channel 2 (8.0)

0x1A10 - ENC Status Compact Counter Channel 2 (6.0)

0x1A12 - ENC Status Compact Legacy Channel 2 (6.0)

0x1A12 - ENC Status Compact Legacy Channel 2 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x6010:01 - Status_Latch C valid (0.1)
0x6010:02 - Status_Latch extern valid (0.1)
0x6010:03 - Status_Set counter done (0.1)
0x6010:04 - Status_Counter underflow (0.1)
0x6010:05 - Status_Counter overflow (0.1)
0x6010:06 - Status_Status of input status (0.1)
0x6010:07 - Status_Open circuit (0.1)
0x6010:08 - Status_Extrapolation stall (0.1)
0x6010:09 - Status_Status of input A (0.1)
0x6010:0A - Status_Status of input B (0.1)
0x6010:0B - Status_Status of input C (0.1)
0x6010:0C - Status_Status of input gate (0.1)
0x6010:0D - Status_Status of extern Latch(0.1)
0x6010:0E - Status_Sync error (0.1)
0x6010:0F - Status_ Status TxPDO State (0.1)
0x6010:10 - Status_ Status TxPDO Toggle (0.1)

0x6010:11 - Counter value (2.0)
0x6010:12 - Latch value (2.0)

0x1A0D - ENC Status Channel 2 (10.0)

0x1A0E - ENC Status Compact Channel 2 (10.0)

0x1A0F - ENC Status Counter Channel 2 (8.0)

0x1A10 - ENC Status Compact Counter Channel 2 (6.0)

0x1A11 - ENC Status Legacy Channel 2 (10.0)

0x1A13 - ENC Frequency Channel 2 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6010:13 - Frequency value (4.0)

0x1A14 - ENC Frequency Compact Channel 2 (2.0)

0x1A14 - ENC Frequency Compact Channel 2 (2.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6010:13 - Frequency value (2.0)

0x1A13 - ENC Frequency Channel 2 (4.0)

0x1A15 - ENC Period Channel 2 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6010:14 - Period value (4.0)

0x1A16 - ENC Period Compact Channel 2 (2.0)

0x1A16 - ENC Period Compact Channel 2 (2.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6010:14 - Period value (2.0)

0x1A15 - ENC Period Channel 2 (4.0)

0x1A17 - ENC Duty Cycle Channel 2 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6010:23 - Duty cycle (2.0)
0x6010:24 - Duty cycle min (2.0)
0x6010:25 - Duty cycle max (2.0)

-

0x1A18 - ENC Timestamp Channel 2 (32.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6010:16 - Timestamp (8.0)
0x6010:1F - Timestamp C (8.0)
0x6010:20 - Timestamp latch (8.0)
0x6010:21 - Timestamp latch 2 (8.0)

0x1A19 - ENC Timestamp Compact Channel 2 (16.0)

0x1A19 - ENC Timestamp Compact Channel 2 (16.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index name size (byte.bit)

0x6010:16 - Timestamp (4.0)
0x6010:1F - Timestamp C (4.0)
0x6010:20 - Timestamp latch (4.0)
0x6010:21 - Timestamp latch 2 (4.0)

0x1A18 - ENC Timestamp Channel 2 (32.0)