SM2 - Outputs (0x1600 .. 0x160B)

Channel 1 (0x1600 .. 0x1605):

0x1600 - ENC Control Channel 1 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7000:01 - Control_Enable latch C (0.1)
0x7000:02 - Control_Enable latch extern on positive edge (0.1)
0x7000:03 - Control_Set counter (0.1)
0x7000:04 - Control_Enable latch extern on negative edge (0.1)
0x7000:08 - Control_Set counter on latch C (0.1)
0x7000:09 - Control_Set software gate (0.1)
0x7000:0A - Control_Set counter on latch extern on positive edge (0.1)
0x7000:0B - Control_Set counter on latch extern on negative edge (0.1)
0x7000:0C - Control_Enable latch extern 2 on positive edge (0.1)
0x7000:0D - Control_Enable latch extern 2 on negative edge (0.1)

0x7000:11 - Set counter value (4.0)

0x1601 - ENC Control Compact Channel 1 (4.0)

0x1602 - ENC Control Counter Channel 1 (6.0)

0x1603 - ENC Control Compact Counter Channel 1 (4.0)

0x1604 - ENC Control Legacy Channel 1 (6.0)

0x1605 - ENC Control Compact Legacy Channel 1 (4.0)

0x1601 - ENC Control Compact Channel 1 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7000:01 - Control_Enable latch C (0.1)
0x7000:02 - Control_Enable latch extern on positive edge (0.1)
0x7000:03 - Control_Set counter (0.1)
0x7000:04 - Control_Enable latch extern on negative edge (0.1)
0x7000:08 - Control_Set counter on latch C (0.1)
0x7000:09 - Control_Set software gate (0.1)
0x7000:0A - Control_Set counter on latch extern on positive edge (0.1)
0x7000:0B - Control_Set counter on latch extern on negative edge (0.1)
0x7000:0C - Control_Enable latch extern 2 on positive edge (0.1)
0x7000:0D - Control_Enable latch extern 2 on negative edge (0.1)

0x7000:11 - Set counter value (2.0)

0x1600 - ENC Control Channel 1 (6.0)

0x1602 - ENC Control Counter Channel 1 (6.0)

0x1603 - ENC Control Compact Counter Channel 1 (4.0)

0x1604 - ENC Control Legacy Channel 1 (6.0)

0x1605 - ENC Control Compact Legacy Channel 1 (4.0)

0x1602 - ENC Control Counter Channel 1 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7000:03 - Control_Set counter (0.1)
0x7000:09 - Control_Set software gate (0.1)

0x7000:11 - Set counter value (4.0)

0x1600 - ENC Control Channel 1 (6.0)

0x1601 - ENC Control Compact Channel 1 (4.0)

0x1603 - ENC Control Compact Counter Channel 1 (4.0)

0x1604 - ENC Control Legacy Channel 1 (6.0)

0x1605 - ENC Control Compact Legacy Channel 1 (4.0)

0x1603 - ENC Control Compact Counter Channel 1 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7000:03 - Control_Set counter (0.1)
0x7000:09 - Control_Set software gate (0.1)

0x7000:11 - Set counter value (2.0)

0x1600 - ENC Control Channel 1 (6.0)

0x1601 - ENC Control Compact Channel 1 (4.0)

0x1602 - ENC Control Counter Channel 1 (6.0)

0x1604 - ENC Control Legacy Channel 1 (6.0)

0x1605 - ENC Control Compact Legacy Channel 1 (4.0)

0x1604 - ENC Control Legacy Channel 1 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7000:01 - Control_Enable latch C (0.1)
0x7000:02 - Control_Enable latch extern on positive edge (0.1)
0x7000:03 - Control_Set counter (0.1)
0x7000:04 - Control_Enable latch extern on negative edge (0.1)

0x7000:11 - Set counter value (4.0)

0x1600 - ENC Control Channel 1 (6.0)

0x1601 - ENC Control Compact Channel 1 (4.0)

0x1602 - ENC Control Counter Channel 1 (6.0)

0x1603 - ENC Control Compact Counter Channel 1 (4.0)

0x1605 - ENC Control Compact Legacy Channel 1 (4.0)

0x1605 - ENC Control Compact Legacy Channel 1 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7000:01 - Control_Enable latch C (0.1)
0x7000:02 - Control_Enable latch extern on positive edge (0.1)
0x7000:03 - Control_Set counter (0.1)
0x7000:04 - Control_Enable latch extern on negative edge (0.1)

0x7000:11 - Set counter value (2.0)

0x1601 - ENC Control Compact Channel 1 (4.0)

0x1602 - ENC Control Counter Channel 1 (6.0)

0x1603 - ENC Control Compact Counter Channel 1 (4.0)

0x1604 - ENC Control Legacy Channel 1 (6.0)

0x1605 - ENC Control Compact Legacy Channel 1 (4.0)

Channel 2 (0x1606 .. 0x160B):

0x1606 - ENC Control Channel 2 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7010:01 - Control_Enable latch C (0.1)
0x7010:02 - Control_Enable latch extern on positive edge (0.1)
0x7010:03 - Control_Set counter (0.1)
0x7010:04 - Control_Enable latch extern on negative edge (0.1)
0x7010:08 - Control_Set counter on latch C (0.1)
0x7010:09 - Control_Set software gate (0.1)
0x7010:0A - Control_Set counter on latch extern on positive edge (0.1)
0x7010:0B - Control_Set counter on latch extern on negative edge (0.1)
0x7010:0C - Control_Enable latch extern 2 on positive edge (0.1)
0x7010:0D - Control_Enable latch extern 2 on negative edge (0.1)

0x7010:11 - Set counter value (4.0)

0x1607 - ENC Control Compact Channel 2 (4.0)

0x1608 - ENC Control Counter Channel 2 (6.0)

0x1609 - ENC Control Compact Counter Channel 2 (4.0)

0x160A - ENC Control Legacy Channel 2 (6.0)

0x160B - ENC Control Compact Legacy Channel 2 (4.0)

0x1607 - ENC Control Compact Channel 2 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7010:01 - Control_Enable latch C (0.1)
0x7010:02 - Control_Enable latch extern on positive edge (0.1)
0x7010:03 - Control_Set counter (0.1)
0x7010:04 - Control_Enable latch extern on negative edge (0.1)
0x7010:08 - Control_Set counter on latch C (0.1)
0x7010:09 - Control_Set software gate (0.1)
0x7010:0A - Control_Set counter on latch extern on positive edge (0.1)
0x7010:0B - Control_Set counter on latch extern on negative edge (0.1)
0x7010:0C - Control_Enable latch extern 2 on positive edge (0.1)
0x7010:0D - Control_Enable latch extern 2 on negative edge (0.1)

0x7010:11 - Set counter value (2.0)

0x1606 - ENC Control Channel 2 (6.0)

0x1608 - ENC Control Counter Channel 2 (6.0)

0x1609 - ENC Control Compact Counter Channel 2 (4.0)

0x160A - ENC Control Legacy Channel 2 (6.0)

0x160B - ENC Control Compact Legacy Channel 2 (4.0)

0x1608 - ENC Control Counter Channel 2 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7010:03 - Control_Set counter (0.1)
0x7010:09 - Control_Set software gate (0.1)

0x7010:11 - Set counter value (4.0)

0x1606 - ENC Control Channel 2 (6.0)

0x1607 - ENC Control Compact Channel 2 (4.0)

0x1609 - ENC Control Compact Counter Channel 2 (4.0)

0x160A - ENC Control Legacy Channel 2 (6.0)

0x160B - ENC Control Compact Legacy Channel 2 (4.0)

0x1609 - ENC Control Compact Counter Channel 2 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7010:03 - Control_Set counter (0.1)
0x7010:09 - Control_Set software gate (0.1)

0x7010:11- Set counter value (2.0)

0x1606 - ENC Control Channel 2 (6.0)

0x1607 - ENC Control Compact Channel 2 (4.0)

0x1608 - ENC Control Counter Channel 2 (6.0)

0x160A - ENC Control Legacy Channel 2 (6.0)

0x160B - ENC Control Compact Legacy Channel 2 (4.0)

0x160A - ENC Control Legacy Channel 2 (6.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7010:01 - Control_Enable latch C (0.1)
0x7010:02 - Control_Enable latch extern on positive edge (0.1)
0x7010:03 - Control_Set counter (0.1)
0x7010:04 - Control_Enable latch extern on negative edge (0.1)

0x7010:11 - Set counter value (4.0)

0x1606 - ENC Control Channel 2 (6.0)

0x1607 - ENC Control Compact Channel 2 (4.0)

0x1608 - ENC Control Counter Channel 2 (6.0)

0x1609 - ENC Control Compact Counter Channel 2 (4.0)

0x160B - ENC Control Compact Legacy Channel 2 (4.0)

0x160B - ENC Control Compact Legacy Channel 2 (4.0)

Contents
Index - name size (byte.bit)

Excluded PDOs
Index - name size (byte.bit)

0x7010:01 - Control_Enable latch C (0.1)
0x7010:02 - Control_Enable latch extern on positive edge (0.1)
0x7010:03 - Control_Set counter (0.1)
0x7010:04 - Control_Enable latch extern on negative edge (0.1)

0x7010:11 - Set counter value (2.0)

0x1606 - ENC Control Channel 2 (6.0)

0x1607 - ENC Control Compact Channel 2 (4.0)

0x1608 - ENC Control Counter Channel 2 (6.0)

0x1609 - ENC Control Compact Counter Channel 2 (4.0)

0x160A - ENC Control Legacy Channel 2 (6.0)