SM3 - Inputs (0x1A00 ... 0x1A15)

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_Diag (0.1)
0x6002:0E - 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)

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_Diag (0.1)
0x6002:0E - 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 Output Channel 1 (2.0)

Contents
Index - Name Size (Byte.Bit)

Excluded PDOs
Index - Name Size (Byte.Bit)

0x6003:01 - Status Output_Status of digital output (0.1)
0x6003:02 - Status Output_Status of tristate (0.1)

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0x1A03 - 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)

0x1A04 - ENC Frequency Compact Channel 1 (2.0)

0x1A04 - 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)

0x1A03 - ENC Frequency Channel 1 (4.0)

0x1A05 - 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)

0x1A06 - ENC Period Compact Channel 1 (2.0)

0x1A06 - 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)

0x1A05 - ENC Period Channel 1 (4.0)

0x1A07 - 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)
0x6000:25 - Duty Cycle max (2.0)

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0x1A08 - 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)

0x1A09 - ENC Timestamp Compact Channel 1 (16.0)

0x1A09 - 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)

0x1A08 - ENC Timestamp Channel 1 (32.0)

0x1A0A - ENC Timestamp Output Channel 1 (64.0)

Contents
Index - Name Size (Byte.Bit)

Excluded PDOs
Index Name Size (Byte.Bit)

0x6004:11 - Timestamp_Timestamp 1 (8.0)
0x6004:12 - Timestamp_Timestamp 2 (8.0)
0x6004:13 - Timestamp_Timestamp 3 (8.0)
0x6004:14 - Timestamp_Timestamp 4 (8.0)
0x6004:15 - Timestamp_Timestamp 5 (8.0)
0x6004:16 - Timestamp_Timestamp 6 (8.0)
0x6004:17 - Timestamp_Timestamp 7 (8.0)
0x6004:18 - Timestamp_Timestamp 8 (8.0)

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0x1A0D - ENC Status Output Channel 2 (2.0)

Contents
Index - Name Size (Byte.Bit)

Excluded PDOs
Index - Name Size (Byte.Bit)

0x6013:01 - Status Output_Status of digital output (0.1)
0x6013:02 - Status Output_Status of tristate (0.1)

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0x1A15 - ENC Timestamp Output Channel 2 (64.0)

Contents
Index - Name Size (Byte.Bit)

Excluded PDOs
Index - Name Size (Byte.Bit)

0x6014:11 - Timestamp_Timestamp 1 (8.0)
0x6014:12 - Timestamp_Timestamp 2 (8.0)
0x6014:13 - Timestamp_Timestamp 3 (8.0)
0x6014:14 - Timestamp_Timestamp 4 (8.0)
0x6014:15 - Timestamp_Timestamp 5 (8.0)
0x6014:16 - Timestamp_Timestamp 6 (8.0)
0x6014:17 - Timestamp_Timestamp 7 (8.0)
0x6014:18 - Timestamp_Timestamp 8 (8.0)

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