Standard objects (0x1000-0x1FFF)

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

Index 0x1000 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

0x02581389
(39326601dec)

Index 0x1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL60xx

Index 0x1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

Index 0x100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

Index 0x1018 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

EL6002:
0x17723052
(393359442dec)

EL6022:
0x17863052 (394670162dec)

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

0x00100000 (1048576dec)

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 0x10F0 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 0x1600 COM RxPDO-Map Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

COM RxPDO-Map Outputs Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x1C (28dec)

1600:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x01 (Transmit request))

BOOLEAN

RO

0x7000:01, 1

1600:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x02 (Receive accepted))

BOOLEAN

RO

0x7000:02, 1

1600:03

SubIndex 0x003

3. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x03 (Init request))

BOOLEAN

RO

0x7000:03, 1

1600:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x04 (Send continuous))

BOOLEAN

RO

0x7000:04, 1

1600:05

SubIndex 0x005

5. PDO Mapping entry (4 bits align)

Align4

RO

0x0000:00, 4

1600:06

SubIndex 0x006

6. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x09 (Output length))

UINT8

RO

0x7000:09, 8

1600:07

SubIndex 0x007

7. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x11 (Data Out 0))

UINT8

RO

0x7000:11, 8

1600:08

SubIndex 0x008

8. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x12 (Data Out 1))

UINT8

RO

0x7000:12, 8

1600:09

SubIndex 0x009

9. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x13 (Data Out 2))

UINT8

RO

0x7000:13, 8

1600:0A

SubIndex 0x010

10. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x14 (Data Out 3))

UINT8

RO

0x7000:14, 8

1600:0B

SubIndex 0x011

11. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x15 (Data Out 4))

UINT8

RO

0x7000:15, 8

1600:0C

SubIndex 0x012

12. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x16 (Data Out 5))

UINT8

RO

0x7000:16, 8

1600:0D

SubIndex 0x013

13. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x17 (Data Out 6))

UINT8

RO

0x7000:17, 8

1600:0E

SubIndex 0x014

14. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x18 (Data Out 7))

UINT8

RO

0x7000:18, 8

1600:0F

SubIndex 0x015

15. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x19 (Data Out 8))

UINT8

RO

0x7000:19, 8

1600:10

SubIndex 0x016

16. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1A (Data Out 9))

UINT8

RO

0x7000:1A, 8

1600:11

SubIndex 0x017

17. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1B (Data Out 10))

UINT8

RO

0x7000:1B, 8

1600:12

SubIndex 0x018

18. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1C (Data Out 11))

UINT8

RO

0x7000:1C, 8

1600:13

SubIndex 0x019

19. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1D (Data Out 12))

UINT8

RO

0x7000:1D, 8

1600:14

SubIndex 0x020

20. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1E (Data Out 13))

UINT8

RO

0x7000:1E, 8

1600:15

SubIndex 0x021

21. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1F (Data Out 14))

UINT8

RO

0x7000:1F, 8

1600:16

SubIndex 0x022

22. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x20 (Data Out 15))

UINT8

RO

0x7000:20, 8

1600:17

SubIndex 0x023

23. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x21 (Data Out 16))

UINT8

RO

0x7000:21, 8

1600:18

SubIndex 0x024

24. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x22 (Data Out 17))

UINT8

RO

0x7000:22, 8

1600:19

SubIndex 0x025

25. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x23 (Data Out 18))

UINT8

RO

0x7000:23, 8

1600:1A

SubIndex 0x026

26. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x24 (Data Out 19))

UINT8

RO

0x7000:24, 8

1600:1B

SubIndex 0x027

27. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x25 (Data Out 20))

UINT8

RO

0x7000:25, 8

1600:1C

SubIndex 0x028

28. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x26 (Data Out 21))

UINT8

RO

0x7000:26, 8

Index 0x1601 COM RxPDO-Map Outputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

COM RxPDO-Map Outputs Ch.2

PDO Mapping RxPDO 2

UINT8

RO

0x1C (28dec)

1601:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x01 (Transmit request))

BOOLEAN

RO

0x7010:01, 1

1601:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x02 (Receive accepted))

BOOLEAN

RO

0x7010:02, 1

1601:03

SubIndex 0x003

3. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x03 (Init request))

BOOLEAN

RO

0x7010:03, 1

1601:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x04 (Send continuous))

BOOLEAN

RO

0x7010:04, 1

1601:05

SubIndex 0x005

5. PDO Mapping entry (4 bits align)

Align4

RO

0x0000:00, 4

1601:06

SubIndex 0x006

6. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x09 (Output length))

UINT8

RO

0x7010:09, 8

1601:07

SubIndex 0x007

7. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x11 (Data Out 0))

UINT8

RO

0x7010:11, 8

1601:08

SubIndex 0x008

8. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x12 (Data Out 1))

UINT8

RO

0x7010:12, 8

1601:09

SubIndex 0x009

9. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x13 (Data Out 2))

UINT8

RO

0x7010:13, 8

1601:0A

SubIndex 0x010

10. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x14 (Data Out 3))

UINT8

RO

0x7010:14, 8

1601:0B

SubIndex 0x011

11. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x15 (Data Out 4))

UINT8

RO

0x7010:15, 8

1601:0C

SubIndex 0x012

12. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x16 (Data Out 5))

UINT8

RO

0x7010:16, 8

1601:0D

SubIndex 0x013

13. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x17 (Data Out 6))

UINT8

RO

0x7010:17, 8

1601:0E

SubIndex 0x014

14. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x18 (Data Out 7))

UINT8

RO

0x7010:18, 8

1601:0F

SubIndex 0x015

15. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x19 (Data Out 8))

UINT8

RO

0x7010:19, 8

1601:10

SubIndex 0x016

16. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1A (Data Out 9))

UINT8

RO

0x7010:1A, 8

1601:11

SubIndex 0x017

17. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1B (Data Out 10))

UINT8

RO

0x7010:1B, 8

1601:12

SubIndex 0x018

18. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1C (Data Out 11))

UINT8

RO

0x7010:1C, 8

1601:13

SubIndex 0x019

19. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1D (Data Out 12))

UINT8

RO

0x7010:1D, 8

1601:14

SubIndex 0x020

20. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1E (Data Out 13))

UINT8

RO

0x7010:1E, 8

1601:15

SubIndex 0x021

21. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1F (Data Out 14))

UINT8

RO

0x7010:1F, 8

1601:16

SubIndex 0x022

22. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x20 (Data Out 15))

UINT8

RO

0x7010:20, 8

1601:17

SubIndex 0x023

23. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x21 (Data Out 16))

UINT8

RO

0x7010:21, 8

1601:18

SubIndex 0x024

24. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x22 (Data Out 17))

UINT8

RO

0x7010:22, 8

1601:19

SubIndex 0x025

25. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x23 (Data Out 18))

UINT8

RO

0x7010:23, 8

1601:1A

SubIndex 0x026

26. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x24 (Data Out 19))

UINT8

RO

0x7010:24, 8

1601:1B

SubIndex 0x027

27. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x25 (Data Out 20))

UINT8

RO

0x7010:25, 8

1601:1C

SubIndex 0x028

28. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x26 (Data Out 21))

UINT8

RO

0x7010:26, 8

Index 0x1604 COM RxPDO-Map Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

COM RxPDO-Map Outputs Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x17 (23dec)

1604:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7001 (Ctrl Ch.1), entry 0x01 (Ctrl))

UINT16

RO

0x7001:01, 16

1604:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x11 (Data Out 0))

UINT8

RO

0x7000:11, 8

1604:03

SubIndex 0x003

3. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x12 (Data Out 1))

UINT8

RO

0x7000:12, 8

1604:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x13 (Data Out 2))

UINT8

RO

0x7000:13, 8

1604:05

SubIndex 0x005

5. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x14 (Data Out 3))

UINT8

RO

0x7000:14, 8

1604:06

SubIndex 0x006

6. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x15 (Data Out 4))

UINT8

RO

0x7000:15, 8

1604:07

SubIndex 0x007

7. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x16 (Data Out 5))

UINT8

RO

0x7000:16, 8

1604:08

SubIndex 0x008

8. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x17 (Data Out 6))

UINT8

RO

0x7000:17, 8

1604:09

SubIndex 0x009

9. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x18 (Data Out 7))

UINT8

RO

0x7000:18, 8

1604:0A

SubIndex 0x010

10. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x19 (Data Out 8))

UINT8

RO

0x7000:19, 8

1604:0B

SubIndex 0x011

11. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1A (Data Out 9))

UINT8

RO

0x7000:1A, 8

1604:0C

SubIndex 0x012

12. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1B (Data Out 10))

UINT8

RO

0x7000:1B, 8

1604:0D

SubIndex 0x013

13. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1C (Data Out 11))

UINT8

RO

0x7000:1C, 8

1604:0E

SubIndex 0x014

14. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1D (Data Out 12))

UINT8

RO

0x7000:1D, 8

1604:0F

SubIndex 0x015

15. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1E (Data Out 13))

UINT8

RO

0x7000:1E, 8

1604:10

SubIndex 0x016

16. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x1F (Data Out 14))

UINT8

RO

0x7000:1F, 8

1604:11

SubIndex 0x017

17. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x20 (Data Out 15))

UINT8

RO

0x7000:20, 8

1604:12

SubIndex 0x018

18. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x21 (Data Out 16))

UINT8

RO

0x7000:21, 8

1604:13

SubIndex 0x019

19. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x22 (Data Out 17))

UINT8

RO

0x7000:22, 8

1604:14

SubIndex 0x020

20. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x23 (Data Out 18))

UINT8

RO

0x7000:23, 8

1604:15

SubIndex 0x021

21. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x24 (Data Out 19))

UINT8

RO

0x7000:24, 8

1604:16

SubIndex 0x022

22. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x25 (Data Out 20))

UINT8

RO

0x7000:25, 8

1604:17

SubIndex 0x023

23. PDO Mapping entry (object 0x7000 (COM Outputs Ch.1), entry 0x26 (Data Out 21))

UINT8

RO

0x7000:26, 8

Index 0x1605 COM RxPDO-Map Outputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

COM RxPDO-Map Outputs Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x17 (23dec)

1605:01

SubIndex 0x001

1. PDO Mapping entry (object 0x7011 (Ctrl Ch.2), entry 0x01 (Ctrl))

UINT16

RO

0x7011:01, 16

1605:02

SubIndex 0x002

2. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x11 (Data Out 0))

UINT8

RO

0x7010:11, 8

1605:03

SubIndex 0x003

3. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x12 (Data Out 1))

UINT8

RO

0x7010:12, 8

1605:04

SubIndex 0x004

4. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x13 (Data Out 2))

UINT8

RO

0x7010:13, 8

1605:05

SubIndex 0x005

5. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x14 (Data Out 3))

UINT8

RO

0x7010:14, 8

1605:06

SubIndex 0x006

6. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x15 (Data Out 4))

UINT8

RO

0x7010:15, 8

1605:07

SubIndex 0x007

7. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x16 (Data Out 5))

UINT8

RO

0x7010:16, 8

1605:08

SubIndex 0x008

8. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x17 (Data Out 6))

UINT8

RO

0x7010:17, 8

1605:09

SubIndex 0x009

9. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x18 (Data Out 7))

UINT8

RO

0x7010:18, 8

1605:0A

SubIndex 0x010

10. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x19 (Data Out 8))

UINT8

RO

0x7010:19, 8

1605:0B

SubIndex 0x011

11. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1A (Data Out 9))

UINT8

RO

0x7010:1A, 8

1605:0C

SubIndex 0x012

12. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1B (Data Out 10))

UINT8

RO

0x7010:1B, 8

1605:0D

SubIndex 0x013

13. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1C (Data Out 11))

UINT8

RO

0x7010:1C, 8

1605:0E

SubIndex 0x014

14. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1D (Data Out 12))

UINT8

RO

0x7010:1D, 8

1605:0F

SubIndex 0x015

15. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1E (Data Out 13))

UINT8

RO

0x7010:1E, 8

1605:10

SubIndex 0x016

16. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x1F (Data Out 14))

UINT8

RO

0x7010:1F, 8

1605:11

SubIndex 0x017

17. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x20 (Data Out 15))

UINT8

RO

0x7010:20, 8

1605:12

SubIndex 0x018

18. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x21 (Data Out 16))

UINT8

RO

0x7010:21, 8

1605:13

SubIndex 0x019

19. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x22 (Data Out 17))

UINT8

RO

0x7010:22, 8

1605:14

SubIndex 0x020

20. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x23 (Data Out 18))

UINT8

RO

0x7010:23, 8

1605:15

SubIndex 0x021

21. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x24 (Data Out 19))

UINT8

RO

0x7010:24, 8

1605:16

SubIndex 0x022

22. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x25 (Data Out 20))

UINT8

RO

0x7010:25, 8

1605:17

SubIndex 0x023

23. PDO Mapping entry (object 0x7010 (COM Outputs Ch.2), entry 0x26 (Data Out 21))

UINT8

RO

0x7010:26, 8

Index 0x1A00 COM TxPDO-Map Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

COM TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x1F (31dec)

1A00:01

SubIndex 0x001

1. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x01 (Transmit accepted))

BOOLEAN

RO

0x6000:01, 1

1A00:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x02 (Receive request))

BOOLEAN

RO

0x6000:02, 1

1A00:03

SubIndex 0x003

3. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x03 (Init accepted))

BOOLEAN

RO

0x6000:03, 1

1A00:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x04 (Buffer full))

BOOLEAN

RO

0x6000:04, 1

1A00:05

SubIndex 0x005

5. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x05 (Parity error))

BOOLEAN

RO

0x6000:05, 1

1A00:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x06 (Framing error))

BOOLEAN

RO

0x6000:06, 1

1A00:07

SubIndex 0x007

7. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x07 (Overrun error))

BOOLEAN

RO

0x6000:07, 1

1A00:08

SubIndex 0x008

8. PDO Mapping entry (1 bits align)

Align1

RO

0x0000:00, 1

1A00:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x09 (Input length))

UINT8

RO

0x6000:09, 8

1A00:0A

SubIndex 0x010

10. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x11 (Data In 0))

UINT8

RO

0x6000:11, 8

1A00:0B

SubIndex 0x011

11. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x12 (Data In 1))

UINT8

RO

0x6000:12, 8

1A00:0C

SubIndex 0x012

12. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x13 (Data In 2))

UINT8

RO

0x6000:13, 8

1A00:0D

SubIndex 0x013

13. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x14 (Data In 3))

UINT8

RO

0x6000:14, 8

1A00:0E

SubIndex 0x014

14. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x15 (Data In 4))

UINT8

RO

0x6000:15, 8

1A00:0F

SubIndex 0x015

15. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x16 (Data In 5))

UINT8

RO

0x6000:16, 8

1A00:10

SubIndex 0x016

16. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x17 (Data In 6))

UINT8

RO

0x6000:17, 8

1A00:11

SubIndex 0x017

17. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x18 (Data In 7))

UINT8

RO

0x6000:18, 8

1A00:12

SubIndex 0x018

18. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x19 (Data In 8))

UINT8

RO

0x6000:19, 8

1A00:13

SubIndex 0x019

19. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1A (Data In 9))

UINT8

RO

0x6000:1A, 8

1A00:14

SubIndex 0x020

20. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1B (Data In 10))

UINT8

RO

0x6000:1B, 8

1A00:15

SubIndex 0x021

21. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1C (Data In 11))

UINT8

RO

0x6000:1C, 8

1A00:16

SubIndex 0x022

22. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1D (Data In 12))

UINT8

RO

0x6000:1D, 8

1A00:17

SubIndex 0x023

23. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1E (Data In 13))

UINT8

RO

0x6000:1E, 8

1A00:18

SubIndex 0x024

24. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1F (Data In 14))

UINT8

RO

0x6000:1F, 8

1A00:19

SubIndex 0x025

25. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x20 (Data In 15))

UINT8

RO

0x6000:20, 8

1A00:1A

SubIndex 0x026

26. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x21 (Data In 16))

UINT8

RO

0x6000:21, 8

1A00:1B

SubIndex 0x027

27. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x22 (Data In 17))

UINT8

RO

0x6000:22, 8

1A00:1C

SubIndex 0x028

28. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x23 (Data In 18))

UINT8

RO

0x6000:23, 8

1A00:1D

SubIndex 0x029

29. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x24 (Data In 19))

UINT8

RO

0x6000:24, 8

1A00:1E

SubIndex 0x030

30. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x25 (Data In 20))

UINT8

RO

0x6000:25, 8

1A00:1F

SubIndex 0x031

31. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x26 (Data In 21))

UINT8

RO

0x6000:26, 8

Index 0x1A01 COM TxPDO-Map Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

COM TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 2

UINT8

RO

0x1F (31dec)

1A01:01

SubIndex 0x001

1. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x01 (Transmit accepted))

BOOLEAN

RO

0x6010:01, 1

1A01:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x02 (Receive request))

BOOLEAN

RO

0x6010:02, 1

1A01:03

SubIndex 0x003

3. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x03 (Init accepted))

BOOLEAN

RO

0x6010:03, 1

1A01:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x04 (Buffer full))

BOOLEAN

RO

0x6010:04, 1

1A01:05

SubIndex 0x005

5. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x05 (Parity error))

BOOLEAN

RO

0x6010:05, 1

1A01:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x06 (Framing error))

BOOLEAN

RO

0x6010:06, 1

1A01:07

SubIndex 0x007

7. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x07 (Overrun error))

BOOLEAN

RO

0x6010:07, 1

1A01:08

SubIndex 0x008

8. PDO Mapping entry (1 bits align)

Align1

RO

0x0000:00, 1

1A01:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x09 (Input length))

UINT8

RO

0x6010:09, 8

1A01:0A

SubIndex 0x010

10. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x11 (Data In 0))

UINT8

RO

0x6010:11, 8

1A01:0B

SubIndex 0x011

11. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x12 (Data In 1))

UINT8

RO

0x6010:12, 8

1A01:0C

SubIndex 0x012

12. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x13 (Data In 2))

UINT8

RO

0x6010:13, 8

1A01:0D

SubIndex 0x013

13. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x14 (Data In 3))

UINT8

RO

0x6010:14, 8

1A01:0E

SubIndex 0x014

14. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x15 (Data In 4))

UINT8

RO

0x6010:15, 8

1A01:0F

SubIndex 0x015

15. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x16 (Data In 5))

UINT8

RO

0x6010:16, 8

1A01:10

SubIndex 0x016

16. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x17 (Data In 6))

UINT8

RO

0x6010:17, 8

1A01:11

SubIndex 0x017

17. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x18 (Data In 7))

UINT8

RO

0x6010:18, 8

1A01:12

SubIndex 0x018

18. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x19 (Data In 8))

UINT8

RO

0x6010:19, 8

1A01:13

SubIndex 0x019

19. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1A (Data In 9))

UINT8

RO

0x6010:1A, 8

1A01:14

SubIndex 0x020

20. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1B (Data In 10))

UINT8

RO

0x6010:1B, 8

1A01:15

SubIndex 0x021

21. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1C (Data In 11))

UINT8

RO

0x6010:1C, 8

1A01:16

SubIndex 0x022

22. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1D (Data In 12))

UINT8

RO

0x6010:1D, 8

1A01:17

SubIndex 0x023

23. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1E (Data In 13))

UINT8

RO

0x6010:1E, 8

1A01:18

SubIndex 0x024

24. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1F (Data In 14))

UINT8

RO

0x6010:1F, 8

1A01:19

SubIndex 0x025

25. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x20 (Data In 15))

UINT8

RO

0x6010:20, 8

1A01:1A

SubIndex 0x026

26. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x21 (Data In 16))

UINT8

RO

0x6010:21, 8

1A01:1B

SubIndex 0x027

27. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x22 (Data In 17))

UINT8

RO

0x6010:22, 8

1A01:1C

SubIndex 0x028

28. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x23 (Data In 18))

UINT8

RO

0x6010:23, 8

1A01:1D

SubIndex 0x029

29. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x24 (Data In 19))

UINT8

RO

0x6010:24, 8

1A01:1E

SubIndex 0x030

30. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x25 (Data In 20))

UINT8

RO

0x6010:25, 8

1A01:1F

SubIndex 0x031

31. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x26 (Data In 21))

UINT8

RO

0x6010:26, 8

Index 0x1A04 COM TxPDO-Map Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

COM TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x17 (23dec)

1A04:01

SubIndex 0x001

1. PDO Mapping entry (object 0x6001 (Status Ch.1), entry 0x01 (Status))

UINT16

RO

0x6001:01, 16

1A04:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x11 (Data In 0))

UINT8

RO

0x6000:11, 8

1A04:03

SubIndex 0x003

3. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x12 (Data In 1))

UINT8

RO

0x6000:12, 8

1A04:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x13 (Data In 2))

UINT8

RO

0x6000:13, 8

1A04:05

SubIndex 0x005

5. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x14 (Data In 3))

UINT8

RO

0x6000:14, 8

1A04:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x15 (Data In 4))

UINT8

RO

0x6000:15, 8

1A04:07

SubIndex 0x007

7. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x16 (Data In 5))

UINT8

RO

0x6000:16, 8

1A04:08

SubIndex 0x008

8. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x17 (Data In 6))

UINT8

RO

0x6000:17, 8

1A04:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x18 (Data In 7))

UINT8

RO

0x6000:18, 8

1A04:0A

SubIndex 0x010

10. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x19 (Data In 8))

UINT8

RO

0x6000:19, 8

1A04:0B

SubIndex 0x011

11. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1A (Data In 9))

UINT8

RO

0x6000:1A, 8

1A04:0C

SubIndex 0x012

12. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1B (Data In 10))

UINT8

RO

0x6000:1B, 8

1A04:0D

SubIndex 0x013

13. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1C (Data In 11))

UINT8

RO

0x6000:1C, 8

1A04:0E

SubIndex 0x014

14. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1D (Data In 12))

UINT8

RO

0x6000:1D, 8

1A04:0F

SubIndex 0x015

15. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1E (Data In 13))

UINT8

RO

0x6000:1E, 8

1A04:10

SubIndex 0x016

16. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x1F (Data In 14))

UINT8

RO

0x6000:1F, 8

1A04:11

SubIndex 0x017

17. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x20 (Data In 15))

UINT8

RO

0x6000:20, 8

1A04:12

SubIndex 0x018

17. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x21 (Data In 16))

UINT8

RO

0x6000:21, 8

1A04:13

SubIndex 0x019

19. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x22 (Data In 17))

UINT8

RO

0x6000:22, 8

1A04:14

SubIndex 0x020

20. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x23 (Data In 18))

UINT8

RO

0x6000:23, 8

1A04:15

SubIndex 0x021

21. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x24 (Data In 19))

UINT8

RO

0x6000:24, 8

1A04:16

SubIndex 0x022

22. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x25 (Data In 20))

UINT8

RO

0x6000:25, 8

1A04:17

SubIndex 0x023

23. PDO Mapping entry (object 0x6000 (COM Inputs Ch.1), entry 0x26 (Data In 21))

UINT8

RO

0x6000:26, 8

Index 0x1A05 COM TxPDO-Map Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

COM TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 1

UINT8

RO

0x17 (23dec)

1A05:01

SubIndex 0x001

1. PDO Mapping entry (object 0x6011 (Status Ch.2), entry 0x01 (Status))

UINT16

RO

0x6011:01, 16

1A05:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x11 (Data In 0))

UINT8

RO

0x6010:11, 8

1A05:03

SubIndex 0x003

3. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x12 (Data In 1))

UINT8

RO

0x6010:12, 8

1A05:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x13 (Data In 2))

UINT8

RO

0x6010:13, 8

1A05:05

SubIndex 0x005

5. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x14 (Data In 3))

UINT8

RO

0x6010:14, 8

1A05:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x15 (Data In 4))

UINT8

RO

0x6010:15, 8

1A05:07

SubIndex 0x007

7. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x16 (Data In 5))

UINT8

RO

0x6010:16, 8

1A05:08

SubIndex 0x008

8. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x17 (Data In 6))

UINT8

RO

0x6010:17, 8

1A05:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x18 (Data In 7))

UINT8

RO

0x6010:18, 8

1A05:0A

SubIndex 0x010

10. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x19 (Data In 8))

UINT8

RO

0x6010:19, 8

1A05:0B

SubIndex 0x011

11. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1A (Data In 9))

UINT8

RO

0x6010:1A, 8

1A05:0C

SubIndex 0x012

12. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1B (Data In 10))

UINT8

RO

0x6010:1B, 8

1A05:0D

SubIndex 0x013

13. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1C (Data In 11))

UINT8

RO

0x6010:1C, 8

1A05:0E

SubIndex 0x014

14. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1D (Data In 12))

UINT8

RO

0x6010:1D, 8

1A05:0F

SubIndex 0x015

15. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1E (Data In 13))

UINT8

RO

0x6010:1E, 8

1A05:10

SubIndex 0x016

16. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x1F (Data In 14))

UINT8

RO

0x6010:1F, 8

1A05:11

SubIndex 0x017

17. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x20 (Data In 15))

UINT8

RO

0x6010:20, 8

1A05:12

SubIndex 0x018

17. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x21 (Data In 16))

UINT8

RO

0x6010:21, 8

1A05:13

SubIndex 0x019

19. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x22 (Data In 17))

UINT8

RO

0x6010:22, 8

1A05:14

SubIndex 0x020

20. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x23 (Data In 18))

UINT8

RO

0x6010:23, 8

1A05:15

SubIndex 0x021

21. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x24 (Data In 19))

UINT8

RO

0x6010:24, 8

1A05:16

SubIndex 0x022

22. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x25 (Data In 20))

UINT8

RO

0x6010:25, 8

1A05:17

SubIndex 0x023

23. PDO Mapping entry (object 0x6010 (COM Inputs Ch.2), entry 0x26 (Data In 21))

UINT8

RO

0x6010:26, 8

Index 0x1C00 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 0x001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1dec)

1C00:02

SubIndex 0x002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2dec)

1C00:03

SubIndex 0x003

Sync-Manager Type Channel 3: Process Data Write (Outputs)

UINT8

RO

0x03 (3dec)

1C00:04

SubIndex 0x004

Sync-Manager Type Channel 4: Process Data Read (Inputs)

UINT8

RO

0x04 (4dec)

Index 0x1C12 RxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RO

0x04 (4dec)

1C12:01

SubIndex 0x001

1st allocated RxPDO (contains the index 0x of the associated RxPDO mapping object)

UINT16

RO

0x1600 (5632dec)

1C12:02

SubIndex 0x002

2nd allocated RxPDO (contains the index 0x of the associated RxPDO mapping object)

UINT16

RO

0x1601 (5633dec)

Index 0x1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RO

0x04 (4dec)

1C13:01

SubIndex 0x001

1st allocated TxPDO (contains the index 0x of the associated TxPDO mapping object)

UINT16

RO

0x1A00 (6656dec)

1C13:02

SubIndex 0x002

2nd allocated TxPDO (contains the index 0x of the associated TxPDO mapping object)

UINT16

RO

0x1A01 (6657dec)

Index 0x1C32 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

0x0000 (0dec)

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

0x0003D090 (250000dec)

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 1C32:08)

UINT16

RO

0xC007 (49159dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00004E20 (20000dec)

1C32:06

Calc and copy time

Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)

UINT32

RO

0x00000000 (0dec)

1C32:08

Command

  • 0: Measurement of the local cycle time is stopped
  • 1: Measurement of the local cycle time is started

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, and 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0dec)

1C32:09

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 0x1C33 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 - Synchronous with SYNC0 Event
  • 3: DC - Synchronous with SYNC1 Event
  • 34: Synchronous with SM 2 event (outputs available)

UINT16

RW

0x0000 (0dec)

1C33:02

Cycle time

as 1C32:02

UINT32

RW

0x0003D090 (250000dec)

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 1C32:08 or 1C33:08)

UINT16

RO

0xC007 (49159dec)

1C33:05

Minimum cycle time

as 1C32:05

UINT32

RO

0x00004E20 (20000dec)

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)

1C33:08

Command

as 1C32:08

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 1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 1C32:32

BOOLEAN

RO

0x00 (0dec)