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

0x01FF1389 (33493897dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL5131

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

09

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

10

Index 100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100B:0

Bootloader version

Bootloader version

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

0x140B3052 (335032402dec)

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 ENC 1400 RxPDO-Par Control Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1400:0

ENC RxPDO-Par Control Ch.1

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6dec)

1400:06

Exclude RxPDOs

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

OCTET-STRING[6]

RO

01 16

Index 1401 ENC RxPDO-Par Control Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1401:0

ENC RxPDO-Par Control Compact Ch.1

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6dec)

1401:06

Exclude RxPDOs

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

OCTET-STRING[2]

RO

00 16

Index 1600 ENC RxPDO-Map Control Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

ENC RxPDO-Map Control Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x0D (13dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x01 (Enable latch C))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x02 (Enable latch extern on positive edge))

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x03 (Set Counter))

UINT32

RO

0x7000:03, 1

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x04 (Enable latch extern on negative edge))

UINT32

RO

0x7000:04, 1

1600:05

SubIndex 005

5. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1600:06

SubIndex 006

6. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x08 (Set Counter on latch C))

UINT32

RO

0x7000:08, 1

1600:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x09 (Set software gate))

UINT32

RO

0x7000:09, 1

1600:08

SubIndex 008

8. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x0A (Set counter on latch extern on positive edge))

UINT32

RO

0x7000:0A, 1

1600:09

SubIndex 009

9. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x0B (Set counter on latch extern on negative edge))

UINT32

RO

0x7000:0B, 1

1600:0A

SubIndex 010

10. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x0C (Enable latch extern 2 on positive edge))

UINT32

RO

0x7000:0C, 1

1600:0B

SubIndex 011

11. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x0D (Enable latch extern 2 on negative edge))

UINT32

RO

0x7000:0D, 1

1600:0C

SubIndex 012

12. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1600:0D

SubIndex 013

13. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x11 (Set counter value))

UINT32

RO

0x7000:11, 32

Index 1601 ENC RxPDO-Map Control Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

ENC RxPDO-Map Control Compact Ch.1

PDO Mapping RxPDO 2

UINT8

RO

0x0D (13dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x01 (Enable latch C))

UINT32

RO

0x7000:01, 1

1601:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x02 (Enable latch extern on positive edge))

UINT32

RO

0x7000:02, 1

1601:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x03 (Set Counter))

UINT32

RO

0x7000:03, 1

1601:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x04 (Enable latch extern on negative edge))

UINT32

RO

0x7000:04, 1

1601:05

SubIndex 005

5. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1601:06

SubIndex 006

6. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x08 (Set Counter on latch C))

UINT32

RO

0x7000:08, 1

1601:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x09 (Set software gate))

UINT32

RO

0x7000:09, 1

1601:08

SubIndex 008

8. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x0A (Set counter on latch extern on positive edge))

UINT32

RO

0x7000:0A, 1

1601:09

SubIndex 009

9. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x0B (Set counter on latch extern on negative edge))

UINT32

RO

0x7000:0B, 1

1601:0A

SubIndex 010

10. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x0C (Enable latch extern 2 on positive edge))

UINT32

RO

0x7000:0C, 1

1601:0B

SubIndex 011

11. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x0D (Enable latch extern 2 on negative edge))

UINT32

RO

0x7000:0D, 1

1601:0C

SubIndex 012

12. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1601:0D

SubIndex 013

13. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x11 (Set counter value))

UINT32

RO

0x7000:11, 16

Index 1602 ENC RxPDO-Map Control Output Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

ENC RxPDO-Map Control Ch.1

PDO Mapping RxPDO 3

UINT8

RO

0x1F (31dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7001 (ENC Control Output Ch.1), entry 0x01 (Set digital output))

UINT32

RO

0x7001:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7001 (ENC Control Output Ch.1), entry 0x02 (Enable thresholds output))

UINT32

RO

0x7001:02, 1

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7001 (ENC Control Output Ch.1), entry 0x03 (Set tristate))

UINT32

RO

0x7001:03, 1

1602:04

SubIndex 004

4. PDO Mapping entry (object 0x7001 (ENC Control Output Ch.1), entry 0x04 (Disable thresholds cw))

UINT32

RO

0x7001:04, 1

1602:05

SubIndex 005

5. PDO Mapping entry (object 0x7001 (ENC Control Output Ch.1), entry 0x05 (Disable thresholds ccw))

UINT32

RO

0x7001:05, 1

1602:06

SubIndex 006

6. PDO Mapping entry (11 bits align)

UINT32

RO

0x0000:00, 11

1602:07

SubIndex 007

7. PDO Mapping entry (object 0x7002 (ENC Control 2 Output Ch.1), entry 0x11 (Number of output events))

UINT32

RO

0x7002:11, 8

1602:08

SubIndex 008

8. PDO Mapping entry (object 0x7003 (ENC Output States Ch.1), entry 0x01 (Output state_Output state 1))

UINT32

RO

0x7003:01, 1

1602:09

SubIndex 009

9. PDO Mapping entry (object 0x7003 (ENC Output States Ch.1), entry 0x02 (Output state_Output state 2))

UINT32

RO

0x7003:02, 1

1602:0A

SubIndex 010

10. PDO Mapping entry (object 0x7003 (ENC Output States Ch.1), entry 0x03 (Output state_Output state 3))

UINT32

RO

0x7003:03, 1

1602:0B

SubIndex 011

11. PDO Mapping entry (object 0x7003 (ENC Output States Ch.1), entry 0x04 (Output state_Output state 4))

UINT32

RO

0x7003:04, 1

1602:0C

SubIndex 012

12. PDO Mapping entry (object 0x7003 (ENC Output States Ch.1), entry 0x05 (Output state_Output state 5))

UINT32

RO

0x7003:05, 1

1602:0D

SubIndex 013

13. PDO Mapping entry (object 0x7003 (ENC Output States Ch.1), entry 0x06 (Output state_Output state 6))

UINT32

RO

0x7003:06, 1

1602:0E

SubIndex 014

14. PDO Mapping entry (object 0x7003 (ENC Output States Ch.1), entry 0x07 (Output state_Output state 7))

UINT32

RO

0x7003:07, 1

1602:0F

SubIndex 015

15. PDO Mapping entry (object 0x7003 (ENC Output States Ch.1), entry 0x08 (Output state_Output state 8))

UINT32

RO

0x7003:08, 1

1602:10

SubIndex 016

16. PDO Mapping entry (object 0x7004 (ENC Threshold Output Ch.1), entry 0x11 (Threshold_Threshold 1))

UINT32

RO

0x7004:11, 32

1602:11

SubIndex 017

17. PDO Mapping entry (object 0x7004 (ENC Threshold Output Ch.1), entry 0x12 (Threshold_Threshold 2))

UINT32

RO

0x7004:12, 32

1602:12

SubIndex 018

18. PDO Mapping entry (object 0x7004 (ENC Threshold Output Ch.1), entry 0x13 (Threshold_Threshold 3))

UINT32

RO

0x7004:13, 32

1602:13

SubIndex 019

19. PDO Mapping entry (object 0x7004 (ENC Threshold Output Ch.1), entry 0x14 (Threshold_Threshold 4))

UINT32

RO

0x7004:14, 32

1602:14

SubIndex 020

20. PDO Mapping entry (object 0x7004 (ENC Threshold Output Ch.1), entry 0x15 (Threshold_Threshold 5))

UINT32

RO

0x7004:15, 32

1602:15

SubIndex 021

21. PDO Mapping entry (object 0x7004 (ENC Threshold Output Ch.1), entry 0x16 (Threshold_Threshold 6))

UINT32

RO

0x7004:16, 32

1602:16

SubIndex 022

22. PDO Mapping entry (object 0x7004 (ENC Threshold Output Ch.1), entry 0x17 (Threshold_Threshold 7))

UINT32

RO

0x7004:17, 32

1602:17

SubIndex 023

23. PDO Mapping entry (object 0x7004 (ENC Threshold Output Ch.1), entry 0x18 (Threshold_Threshold 8))

UINT32

RO

0x7004:18, 32

1602:18

SubIndex 024

24. PDO Mapping entry (object 0x7005 (ENC Duration Output Ch.1), entry 0x11 (Duration_Duration 1))

UINT32

RO

0x7005:11, 32

1602:19

SubIndex 025

25. PDO Mapping entry (object 0x7005 (ENC Duration Output Ch.1), entry 0x12 (Duration_Duration 2))

UINT32

RO

0x7005:12, 32

1602:1A

SubIndex 026

26. PDO Mapping entry (object 0x7005 (ENC Duration Output Ch.1), entry 0x13 (Duration_Duration 3))

UINT32

RO

0x7005:13, 32

1602:1B

SubIndex 027

27. PDO Mapping entry (object 0x7005 (ENC Duration Output Ch.1), entry 0x14 (Duration_Duration 4))

UINT32

RO

0x7005:14, 32

1602:1C

SubIndex 028

28. PDO Mapping entry (object 0x7005 (ENC Duration Output Ch.1), entry 0x15 (Duration_Duration 5))

UINT32

RO

0x7005:15, 32

1602:1D

SubIndex 029

29. PDO Mapping entry (object 0x7005 (ENC Duration Output Ch.1), entry 0x16 (Duration_Duration 6))

UINT32

RO

0x7005:16, 32

1602:1E

SubIndex 030

30. PDO Mapping entry (object 0x7005 (ENC Duration Output Ch.1), entry 0x17 (Duration_Duration 7))

UINT32

RO

0x7005:17, 32

1602:1F

SubIndex 031

31. PDO Mapping entry (object 0x7005 (ENC Duration Output Ch.1), entry 0x18 (Duration_Duration 8))

UINT32

RO

0x7005:18, 32

Index 1605 ENC RxPDO-Map Control Output Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

ENC RxPDO-Map Control Output Ch.2

PDO Mapping RxPDO 6

UINT8

RO

0x1F (31dec)

1605:01

SubIndex 001

1. PDO Mapping entry (object 0x7011 (ENC Control Output Ch.2), entry 0x01 (Set digital output))

UINT32

RO

0x7011:01, 1

1605:02

SubIndex 002

2. PDO Mapping entry (object 0x7011 (ENC Control Output Ch.2), entry 0x02 (Enable thresholds output))

UINT32

RO

0x7011:02, 1

1605:03

SubIndex 003

3. PDO Mapping entry (object 0x7011 (ENC Control Output Ch.2), entry 0x03 (Set tristate))

UINT32

RO

0x7011:03, 1

1605:04

SubIndex 004

4. PDO Mapping entry (object 0x7011 (ENC Control Output Ch.2), entry 0x04 (Disable thresholds cw))

UINT32

RO

0x7011:04, 1

1605:05

SubIndex 005

5. PDO Mapping entry (object 0x7011 (ENC Control Output Ch.2), entry 0x05 (Disable thresholds ccw))

UINT32

RO

0x7011:05, 1

1605:06

SubIndex 006

6. PDO Mapping entry (11 bits align)

UINT32

RO

0x0000:00, 11

1605:07

SubIndex 007

7. PDO Mapping entry (object 0x7012 (ENC Control 2 Output Ch.2), entry 0x11 (Number of output events))

UINT32

RO

0x7012:11, 8

1605:08

SubIndex 008

8. PDO Mapping entry (object 0x7013 (ENC Output States Ch.2), entry 0x02 (Output state_Output state 2))

UINT32

RO

0x7013:01, 1

1605:09

SubIndex 009

9. PDO Mapping entry (object 0x7013 (ENC Output States Ch.2), entry 0x02 (Output state_Output state 2))

UINT32

RO

0x7013:02, 1

1605:0A

SubIndex 010

10. PDO Mapping entry (object 0x7013 (ENC Output States Ch.2), entry 0x03 (Output state_Output state 3))

UINT32

RO

0x7013:03, 1

1605:0B

SubIndex 011

11. PDO Mapping entry (object 0x7013 (ENC Output States Ch.2), entry 0x04 (Output state_Output state 4))

UINT32

RO

0x7013:04, 1

1605:0C

SubIndex 012

12. PDO Mapping entry (object 0x7013 (ENC Output States Ch.2), entry 0x05 (Output state_Output state 5))

UINT32

RO

0x7013:05, 1

1605:0D

SubIndex 013

13. PDO Mapping entry (object 0x7013 (ENC Output States Ch.2), entry 0x06 (Output state_Output state 6))

UINT32

RO

0x7013:06, 1

1605:0E

SubIndex 014

14. PDO Mapping entry (object 0x7013 (ENC Output States Ch.2), entry 0x07 (Output state_Output state 7))

UINT32

RO

0x7013:07, 1

1605:0F

SubIndex 015

15. PDO Mapping entry (object 0x7013 (ENC Output States Ch.2), entry 0x08 (Output state_Output state 8))

UINT32

RO

0x7013:08, 1

1605:10

SubIndex 016

16. PDO Mapping entry (object 0x7014 (ENC Threshold Output Ch.1), entry 0x11 (Threshold_Threshold 1))

UINT32

RO

0x7014:11, 32

1605:11

SubIndex 017

17. PDO Mapping entry (object 0x7014 (ENC Threshold Output Ch.2), entry 0x12 (Threshold_Threshold 2))

UINT32

RO

0x7014:12, 32

1605:12

SubIndex 018

18. PDO Mapping entry (object 0x7014 (ENC Threshold Output Ch.2), entry 0x13 (Threshold_Threshold 3))

UINT32

RO

0x7014:13, 32

1605:13

SubIndex 019

19. PDO Mapping entry (object 0x7014 (ENC Threshold Output Ch.2), entry 0x14 (Threshold_Threshold 4))

UINT32

RO

0x7014:14, 32

1605:14

SubIndex 020

20. PDO Mapping entry (object 0x7014 (ENC Threshold Output Ch.2), entry 0x15 (Threshold_Threshold 5))

UINT32

RO

0x7014:15, 32

1605:15

SubIndex 021

21. PDO Mapping entry (object 0x7014 (ENC Threshold Output Ch.2), entry 0x16 (Threshold_Threshold 6))

UINT32

RO

0x7014:16, 32

1605:16

SubIndex 022

22. PDO Mapping entry (object 0x7014 (ENC Threshold Output Ch.2), entry 0x17 (Threshold_Threshold 7))

UINT32

RO

0x7014:17, 32

1605:17

SubIndex 023

23. PDO Mapping entry (object 0x7014 (ENC Threshold Output Ch.1), entry 0x18 (Threshold_Threshold 8))

UINT32

RO

0x7014:18, 32

1605:18

SubIndex 024

24. PDO Mapping entry (object 0x7015 (ENC Duration Output Ch.2), entry 0x11 (Duration_Duration 1))

UINT32

RO

0x7015:11, 32

1605:19

SubIndex 025

25. PDO Mapping entry (object 0x7015 (ENC Duration Output Ch.2), entry 0x12 (Duration_Duration 2))

UINT32

RO

0x7015:12, 32

1605:1A

SubIndex 026

26. PDO Mapping entry (object 0x7015 (ENC Duration Output Ch.2), entry 0x13 (Duration_Duration 3))

UINT32

RO

0x7015:13, 32

1605:1B

SubIndex 027

27. PDO Mapping entry (object 0x7015 (ENC Duration Output Ch.2), entry 0x14 (Duration_Duration 4))

UINT32

RO

0x7015:14, 32

1605:1C

SubIndex 028

28. PDO Mapping entry (object 0x7015 (ENC Duration Output Ch.2), entry 0x15 (Duration_Duration 5))

UINT32

RO

0x7015:15, 32

1605:1D

SubIndex 029

29. PDO Mapping entry (object 0x7015 (ENC Duration Output Ch.2), entry 0x16 (Duration_Duration 6))

UINT32

RO

0x7015:16, 32

1605:1E

SubIndex 030

30. PDO Mapping entry (object 0x7015 (ENC Duration Output Ch.2), entry 0x17 (Duration_Duration 7))

UINT32

RO

0x7015:17, 32

1605:1F

SubIndex 031

31. PDO Mapping entry (object 0x7015 (ENC Duration Output Ch.2), entry 0x18 (Duration_Duration 8))

UINT32

RO

0x7015:18, 32

Index 1800 ENC TxPDO-Par Status Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1800:0

ENC TxPDO-Par Status 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[14]

RO

01 1A

Index 1801 ENC TxPDO-Par Status Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1801:0

ENC TxPDO-Par Status compact 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[14]

RO

00 1A

Index 1803 ENC TxPDO-Frequency Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1803:0

ENC TxPDO-Par Frequency 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[14]

RO

04 1A

Index 1804 ENC TxPDO-Par Frequency Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1804:0

ENC TxPDO-Par Frequency Compact Ch.1

PDO parameter TxPDO 5

UINT8

RO

0x06 (6dec)

1804:06

Exclude TxPDOs

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

OCTET-STRING[14]

RO

03 1A

Index 1805 ENC TxPDO-Par Period Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1805:0

ENC TxPDO-Par Period Ch.1

PDO parameter TxPDO 6

UINT8

RO

0x06 (6dec)

1805:06

Exclude TxPDOs

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

OCTET-STRING[14]

RO

06 1A

Index 1806 ENC TxPDO-Par Period Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1806:0

ENC TxPDO-Par Period Compact Ch.1

PDO parameter TxPDO 7

UINT8

RO

0x06 (6dec)

1806:06

Exclude TxPDOs

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

OCTET-STRING[14]

RO

05 1A

Index 1808 ENC TxPDO-Par Timestamp Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1808:0

ENC TxPDO-Par Timestamp Ch.1

PDO parameter TxPDO 9

UINT8

RO

0x06 (6dec)

1808:06

Exclude TxPDOs

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

OCTET-STRING[14]

RO

09 1A

Index 1809 ENC TxPDO-Par Timestamp Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1809:0

ENC TxPDO-Par Timestamp Compact Ch.1

PDO parameter TxPDO 10

UINT8

RO

0x06 (6dec)

1809:06

Exclude TxPDOs

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

OCTET-STRING[14]

RO

08 1A

Index 1A00 ENC TxPDO-Map Status Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

ENC TxPDO-Map Status Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x18 (24dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x01 (Latch C valid))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x02 (Latch extern valid))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x03 (Set counter done))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x04 (Counter underflow))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x05 (Counter overflow))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x06 (Status of input status))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x07 (Open circuit))

UINT32

RO

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x08 (Extrapolation stall))

UINT32

RO

0x6000:08, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x09 (Status of input A))

UINT32

RO

0x6000:09, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0A (Status of input B))

UINT32

RO

0x6000:0A, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0B (Status of input C))

UINT32

RO

0x6000:0B, 1

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0C (Status of input gate))

UINT32

RO

0x6000:0C, 1

1A00:0D

SubIndex 013

13. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x0D (Diag))

UINT32

RO

0x6002:0D, 1

1A00:0E

SubIndex 014

14. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x0E (TxPDO State))

UINT32

RO

0x6002:0E, 1

1A00:0F

SubIndex 015

15. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x0F (Input cycle counter))

UINT32

RO

0x6002:0F, 2

1A00:10

SubIndex 016

16. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x11 (Software gate valid))

UINT32

RO

0x6002:11, 1

1A00:11

SubIndex 017

17. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x12 (Latch extern 2 valid))

UINT32

RO

0x6002:12, 1

1A00:12

SubIndex 018

18. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x13 (Direction inversion detected))

UINT32

RO

0x6002:13, 1

1A00:13

SubIndex 019

19. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x14 (Status of extern latch))

UINT32

RO

0x6002:14, 1

1A00:14

SubIndex 020

20. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x15 (Counter value out of range))

UINT32

RO

0x6002:15, 1

1A00:15

SubIndex 021

21. PDO Mapping entry (11 bits align)

UINT32

RO

0x0000:00, 11

1A00:16

SubIndex 022

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

UINT32

RO

0x6000:11, 32

1A00:17

SubIndex 023

23. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x12 (Latch value))

UINT32

RO

0x6000:12, 32

1A00:18

SubIndex 024

24. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x22 (Latch value 2))

UINT32

RO

0x6000:22, 32

Index 1A01 ENC TxPDO-Map Status Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

ENC TxPDO-Map Status Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x18 (24dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x01 (Latch C valid))

UINT32

RO

0x6000:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x02 (Latch extern valid))

UINT32

RO

0x6000:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x03 (Set counter done))

UINT32

RO

0x6000:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x04 (Counter underflow))

UINT32

RO

0x6000:04, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x05 (Counter overflow))

UINT32

RO

0x6000:05, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x06 (Status of input status))

UINT32

RO

0x6000:06, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x07 (Open circuit))

UINT32

RO

0x6000:07, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x08 (Extrapolation stall))

UINT32

RO

0x6000:08, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x09 (Status of input A))

UINT32

RO

0x6000:09, 1

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0A (Status of input B))

UINT32

RO

0x6000:0A, 1

1A01:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0B (Status of input C))

UINT32

RO

0x6000:0B, 1

1A01:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0C (Status of input gate))

UINT32

RO

0x6000:0C, 1

1A01:0D

SubIndex 013

13. PDO Mapping entry (object 0x6002(ENC Inputs status Ch.1) entry 0x0D (Diag))

UINT32

RO

0x6002:0D, 1

1A01:0E

SubIndex 014

14. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x0E (TxPDO State))

UINT32

RO

0x6002:0E, 1

1A01:0F

SubIndex 015

15. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x0F (Input cycle counter))

UINT32

RO

0x6002:0F, 2

1A01:10

SubIndex 016

16. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x11 (Software gate valid))

UINT32

RO

0x6002:11, 1

1A01:11

SubIndex 017

17. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x12 (Latch extern 2 valid))

UINT32

RO

0x6002:12, 1

1A01:12

SubIndex 018

18. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x13 (Direction inversion detected))

UINT32

RO

0x6002:13, 1

1A01:13

SubIndex 019

19. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x14 (Status of extern latch))

UINT32

RO

0x6002:14, 1

1A01:14

SubIndex 020

20. PDO Mapping entry (object 0x6002 (ENC Inputs status Ch.1), entry 0x15 (Counter value out of range))

UINT32

RO

0x6002:15, 1

1A01:15

SubIndex 021

21. PDO Mapping entry (11 bits align)

UINT32

RO

0x0000:00, 11

1A01:16

SubIndex 022

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

UINT32

RO

0x6000:11, 16

1A01:17

SubIndex 023

23. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x12 (Latch value))

UINT32

RO

0x6000:12, 16

1A01:18

SubIndex 024

24. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x22 (Latch value 2))

UINT32

RO

0x6000:22, 16

Index 1A02 ENC TxPDO-Map Status Output Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

ENC TxPDO-Map Status Output Ch.1

PDO Mapping TxPDO 3

UINT8

RO

0x03 (3dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6003 (ENC Inputs Ch.1), entry 0x01 (Status of digital output))

UINT32

RO

0x6003:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6003 (ENC Inputs Ch.1), entry 0x02 (Status of tristate))

UINT32

RO

0x6003:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

Index 1A03 ENC TxPDO-Map Frequency Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

ENC TxPDO-Map Frequency Ch.1

PDO Mapping TxPDO 4

UINT8

RO

0x01 (1dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x13 (Frequency value))

UINT32

RO

0x6000:13, 32

Index 1A04 ENC TxPDO-Map Frequency Comact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

ENC TxPDO-Map Frequency Compact Ch.1

PDO Mapping TxPDO 5

UINT8

RO

0x01 (1dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x13 (Frequency value))

UINT32

RO

0x6000:13, 16

Index 1A05 ENC TxPDO-Map Period Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

ENC TxPDO-Map Period Ch.1

PDO Mapping TxPDO 6

UINT8

RO

0x01 (1dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x14 (Period value))

UINT32

RO

0x6000:14, 32

Index 1A06 ENC TxPDO-Map Period Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

ENC TxPDO-Map Period Compact Ch.1

PDO Mapping TxPDO 7

UINT8

RO

0x01 (1dec)

1A06:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x14 (Period value))

UINT32

RO

0x6000:14, 16

Index 1A07 ENC TxPDO-Map Duty Cycle Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

ENC TxPDO-Map Status Compact Legacy Ch.1

PDO Mapping TxPDO 8

UINT8

RO

0x03 (3dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x23 (Duty cycle))

UINT32

RO

0x6000:23, 16

1A07:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x24 (Duty cycle min))

UINT32

RO

0x6000:24, 16

1A07:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x25 (Duty cycle max))

UINT32

RO

0x6000:25, 16

Index 1A08 ENC TxPDO-Map Timestamp Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

ENC TxPDO-Map Timestamp Ch.1

PDO Mapping TxPDO 9

UINT8

RO

0x04 (4dec)

1A08:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x16 (Timestamp))

UINT32

RO

0x6000:16, 64

1A08:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x1F (Timestamp C))

UINT32

RO

0x6000:1F, 64

1A08:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x20 (Timestamp latch))

UINT32

RO

0x6000:20, 64

1A08:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x21 (Timestamp latch2))

UINT32

RO

0x6000:21, 64

Index 1A09 ENC TxPDO-Map Timestamp Compact Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A09:0

ENC TxPDO-Map Timestamp Compact Ch.1

PDO Mapping TxPDO 10

UINT8

RO

0x04 (4dec)

1A09:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x16 (Timestamp))

UINT32

RO

0x6000:16, 32

1A09:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x1F (Timestamp C))

UINT32

RO

0x6000:1F, 32

1A09:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x20 (Timestamp latch))

UINT32

RO

0x6000:20, 32

1A09:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x21 (Timestamp latch2))

UINT32

RO

0x6000:21, 32

Index 1A0A ENC TxPDO-Map Timestamps Output Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0A:0

ENC TxPDO-Map Timestamps Output Ch.1

PDO Mapping TxPDO 11

UINT8

RO

0x08 (8dec)

1A0A:01

SubIndex 001

1. PDO Mapping entry (object 0x6004 (ENC Timestamps Output Ch.1), entry 0x11 (Timestamp 1))

UINT32

RO

0x6004:11, 64

1A0A:02

SubIndex 002

2. PDO Mapping entry (object 0x6004 (ENC Timestamps Output Ch.1), entry 0x12 (Timestamp 2))

UINT32

RO

0x6004:12, 64

1A0A:03

SubIndex 003

3. PDO Mapping entry (object 0x6004 (ENC Timestamps Output Ch.1), entry 0x13 (Timestamp 3))

UINT32

RO

0x6004:13, 64

1A0A:04

SubIndex 004

4. PDO Mapping entry (object 0x6004 (ENC Timestamps Output Ch.1), entry 0x14 (Timestamp 4))

UINT32

RO

0x6004:14, 64

1A0A:05

SubIndex 005

1. PDO Mapping entry (object 0x6004 (ENC Timestamps Output Ch.1), entry 0x15 (Timestamp 5))

UINT32

RO

0x6004:15, 64

1A0A:06

SubIndex 006

1. PDO Mapping entry (object 0x6004 (ENC Timestamps Output Ch.1), entry 0x16 (Timestamp 6))

UINT32

RO

0x6004:16, 64

1A0A:07

SubIndex 007

1. PDO Mapping entry (object 0x6004 (ENC Timestamps Output Ch.1), entry 0x17 (Timestamp 7))

UINT32

RO

0x6004:17, 64

1A0A:08

SubIndex 008

1. PDO Mapping entry (object 0x6004 (ENC Timestamps Output Ch.1), entry 0x18 (Timestamp 8))

UINT32

RO

0x6004:18, 64

Index 1A0D ENC TxPDO-Map Status Output Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0D:0

ENC TxPDO-Map Status Output Ch.1

PDO Mapping TxPDO 14

UINT8

RO

0x03 (3dec)

1A0D:01

SubIndex 001

1. PDO Mapping entry (object 0x6013 (ENC Inputs Ch.2), entry 0x01 (Status of digital output))

UINT32

RO

0x6013:01, 1

1A0D:02

SubIndex 002

2. PDO Mapping entry (object 0x6013 (ENC Inputs Ch.2), entry 0x02 (Status of tristate))

UINT32

RO

0x6013:02, 1

1A0D:03

SubIndex 003

3. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

Index 1A15 ENC TxPDO-Map Timestamps Output Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A15:0

ENC TxPDO-Map Timestamps Output Ch.2

PDO Mapping TxPDO 15

UINT8

RO

0x08 (8dec)

1A15:01

SubIndex 001

1. PDO Mapping entry (object 0x6014 (ENC Timestamps Output Ch.2), entry 0x11 (Timestamp 1))

UINT32

RO

0x6014:11, 64

1A15:02

SubIndex 002

2. PDO Mapping entry (object 0x6014 (ENC Timestamps Output Ch.2), entry 0x12 (Timestamp 2))

UINT32

RO

0x6014:12, 64

1A15:03

SubIndex 003

3. PDO Mapping entry (object 0x6014 (ENC Timestamps Output Ch.2), entry 0x13 (Timestamp 3))

UINT32

RO

0x6014:13, 64

1A15:04

SubIndex 004

4. PDO Mapping entry (object 0x6014 (ENC Timestamps Output Ch.2), entry 0x14 (Timestamp 4))

UINT32

RO

0x6014:14, 64

1A15:05

SubIndex 005

5. PDO Mapping entry (object 0x6014 (ENC Timestamps Output Ch.2), entry 0x15 (Timestamp 5))

UINT32

RO

0x6014:15, 64

1A15:06

SubIndex 006

6. PDO Mapping entry (object 0x6014 (ENC Timestamps Output Ch.2), entry 0x16 (Timestamp 6))

UINT32

RO

0x6014:16, 64

1A15:07

SubIndex 007

7. PDO Mapping entry (object 0x6014 (ENC Timestamps Output Ch.2), entry 0x17 (Timestamp 7))

UINT32

RO

0x6014:17, 64

1A15:08

SubIndex 008

8. PDO Mapping entry (object 0x6014 (ENC Timestamps Output Ch.2), entry 0x18 (Timestamp 8))

UINT32

RO

0x6014:18, 64

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

0x03 (3dec)

1C12:01

SubIndex 001

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

UINT16

RW

0x1600 (5632dec)

1C12:02

SubIndex 002

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

UINT16

RW

0x1602 (5634dec)

1C12:03

SubIndex 003

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

UINT16

RW

0x1605 (5637dec)

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

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

0x1A02 (6658dec)

1C13:03

SubIndex 003

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

UINT16

RW

0x1A0D (6669dec)

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: 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

0x0807 (2055dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000101D0 (66000dec)

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

Min. time between SYNC1 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (000000dec)

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, 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: 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

0x0022 (34dec)

1C33:02

Cycle time

Cycle time (in ns):

  • Free Run: cycle time of the local timer
  • Synchronous 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 0x1C32:08 or 0x1C33:08)

UINT16

RO

0x0807 (2055dec)

1C33:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000101D0 (66000dec)

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

0x000101D0 (66000dec)

1C33:07

Minimum delay time

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

UINT32

RO

0x00000000 (000000dec)

1C33:08

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, 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, only DC mode)

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

0x02 (2dec)

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

0x0002 (2dec)

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

0x04 (4dec)

F010:01

SubIndex 001

reserved

UINT32

RW

0x000001FF (511dec)

F010:02

SubIndex 002

reserved

UINT32

RW

0x000001FF (511dec)

F010:03

SubIndex 003

reserved

UINT32

RW

0x00000118 (280dec)

F010:04

SubIndex 042

reserved

UINT32

RW

0x00000118 (280dec)