Standard objects

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	0x00001389 (5001_dec)

Index 1008 Device name

Index (hex)	Name	Meaning	Data type	Flags	Default
1008:0	Device name	Device name of the EtherCAT slave	STRING	RO	EL7041-1000

Index 1009 Hardware version

Index (hex)	Name	Meaning	Data type	Flags	Default
1009:0	Hardware version	Hardware version of the EtherCAT slave	STRING	RO	01

Index 100A Software version

Index (hex)	Name	Meaning	Data type	Flags	Default
100A:0	Software version	Firmware version of the EtherCAT slave	STRING	RO	04

Index 1018 Identity

Index (hex)	Name	Meaning	Data type	Flags	Default
1018:0	Identity	Information for identifying the slave	UINT8	RO	0x04 (4_dec)
1018:01	Vendor ID	Vendor ID of the EtherCAT slave	UINT32	RO	0x00000002 (2_dec)
1018:02	Product code	Product code of the EtherCAT slave	UINT32	RO	(…)
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	(…)
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 (0_dec)

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 (1_dec)
10F0:01	Checksum	Checksum across all backup entries of the EtherCAT slave	UINT32	RO	0x00000000 (0_dec)

Index 1400 ENC RxPDO-Par Control compact

Index (hex)	Name	Meaning	Data type	Flags	Default
1400:0	ENC RxPDO-Par Control compact	PDO Parameter RxPDO 1	UINT8	RO	0x06 (6_dec)
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 00 00 00 00

Index 1401 ENC RxPDO-Par Control

Index (hex)	Name	Meaning	Data type	Flags	Default
1401:0	ENC RxPDO-Par Control	PDO Parameter RxPDO 2	UINT8	RO	0x06 (6_dec)
1401:06	Exclude RxPDOs	Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 2	OCTET-STRING[6]	RO	00 16 00 00 00 00

Index 1403 STM RxPDO-Par Position

Index (hex)	Name	Meaning	Data type	Flags	Default
1403:0	STM RxPDO-Par Position	PDO Parameter RxPDO 4	UINT8	RO	0x06 (6_dec)
1403:06	Exclude RxPDOs	Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 4	OCTET-STRING[6]	RO	04 16 05 16 06 16

Index 1404 STM RxPDO-Par Velocity

Index (hex)	Name	Meaning	Data type	Flags	Default
1404:0	STM RxPDO-Par Velocity	PDO Parameter RxPDO 5	UINT8	RO	0x06 (6_dec)
1404:06	Exclude RxPDOs	Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 5	OCTET-STRING[6]	RO	03 16 05 16 06 16

Index 1600 ENC RxPDO-Map Control compact

Index (hex)	Name	Meaning	Data type	Flags	Default
1600:0	ENC RxPDO-Map Control compact	PDO Mapping RxPDO 1	UINT8	RO	0x07 (7_dec)
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 (4 bits align)	UINT32	RO	0x0000:00, 4
1600:06	SubIndex 006	6. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8
1600:07	SubIndex 007	7. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x11 (Set counter value))	UINT32	RO	0x7000:11, 16

Index 1601 ENC RxPDO-Map Control

Index (hex)	Name	Meaning	Data type	Flags	Default
1601:0	ENC RxPDO-Map Control	PDO Mapping RxPDO 2	UINT8	RO	0x07 (7_dec)
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 (4 bits align)	UINT32	RO	0x0000:00, 4
1601:06	SubIndex 006	6. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8
1601:07	SubIndex 007	7. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x11 (Set counter value))	UINT32	RO	0x7000:11, 32

Index 1602 STM RxPDO-Map Control

Index (hex)	Name	Meaning	Data type	Flags	Default
1602:0	STM RxPDO-Map Control	PDO Mapping RxPDO 3	UINT8	RO	0x05 (5_dec)
1602:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x01 (Enable))	UINT32	RO	0x7010:01, 1
1602:02	SubIndex 002	2. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x02 (Reset))	UINT32	RO	0x7010:02, 1
1602:03	SubIndex 003	3. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x03 (Reduce torque))	UINT32	RO	0x7010:03, 1
1602:04	SubIndex 004	4. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 5
1602:05	SubIndex 005	5. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8

Index 1603 STM RxPDO-Map Position

Index (hex)	Name	Meaning	Data type	Flags	Default
1603:0	STM RxPDO-Map Position	PDO Mapping RxPDO 4	UINT8	RO	0x01 (1_dec)
1603:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x11 (Position))	UINT32	RO	0x7010:11, 32

Index 1604 STM RxPDO-Map Velocity

Index (hex)	Name	Meaning	Data type	Flags	Default
1604:0	STM RxPDO-Map Velocity	PDO Mapping RxPDO 5	UINT8	RO	0x01 (1_dec)
1604:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x21 (Velocity))	UINT32	RO	0x7010:21, 16

Index 1800 ENC TxPDO-Par Status compact

Index (hex)	Name	Meaning	Data type	Flags	Default
1800:0	ENC TxPDO-Par Status compact	PDO parameter TxPDO 1	UINT8	RO	0x06 (6_dec)
1800:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1	OCTET-STRING[2]	RO	01 1A

Index 1801 ENC TxPDO-Par Status

Index (hex)	Name	Meaning	Data type	Flags	Default
1801:0	ENC TxPDO-Par Status	PDO parameter TxPDO 2	UINT8	RO	0x06 (6_dec)
1801:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2	OCTET-STRING[2]	RO	00 1A

Index 1A00 ENC TxPDO-Map Status compact

Index (hex)	Name	Meaning	Data type	Flags	Default
1A00:0	ENC TxPDO-Map Status compact	PDO Mapping TxPDO 1	UINT8	RO	0x11 (17_dec)
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 (2 bits align)	UINT32	RO	0x0000:00, 2
1A00:07	SubIndex 007	7. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x08 (Extrapolation stall))	UINT32	RO	0x6000:08, 1
1A00:08	SubIndex 008	8. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x09 (Status of input A))	UINT32	RO	0x6000:09, 1
1A00:09	SubIndex 009	9. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0A (Status of input B))	UINT32	RO	0x6000:0A, 1
1A00:0A	SubIndex 010	10. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0B (Status of input C))	UINT32	RO	0x6000:0B, 1
1A00:0B	SubIndex 011	11. PDO Mapping entry (1 bit align)	UINT32	RO	0x0000:00, 1
1A00:0C	SubIndex 012	12. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0D (Status of extern latch))	UINT32	RO	0x6000:0D, 1
1A00:0D	SubIndex 013	13. PDO Mapping entry (object 0x6000 (SM output parameter), entry 0x0E (Sync error))	UINT32	RO	0x6000:0E, 1
1A00:0E	SubIndex 014	14. PDO Mapping entry (1 bit align)	UINT32	RO	0x0000:00, 1
1A00:0F	SubIndex 015	15. PDO Mapping entry (object 0x6000 (ENC TxPDO-Par Status compact ), entry 0x10 (TxPDO Toggle))	UINT32	RO	0x6000:10, 1
1A00:10	SubIndex 016	16. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x11 (Counter value))	UINT32	RO	0x6000:11, 16
1A00:11	SubIndex 017	17. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x12 (Latch value))	UINT32	RO	0x6000:12, 16

Index 1A01 ENC TxPDO-Map Status

Index (hex)	Name	Meaning	Data type	Flags	Default
1A01:0	ENC TxPDO-Map Status	PDO Mapping TxPDO 2	UINT8	RO	0x11 (17_dec)
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 (2 bits align)	UINT32	RO	0x0000:00, 2
1A01:07	SubIndex 007	7. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x08 (Extrapolation stall))	UINT32	RO	0x6000:08, 1
1A01:08	SubIndex 008	8. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x09 (Status of input A))	UINT32	RO	0x6000:09, 1
1A01:09	SubIndex 009	9. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0A (Status of input B))	UINT32	RO	0x6000:0A, 1
1A01:0A	SubIndex 010	10. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0B (Status of input C))	UINT32	RO	0x6000:0B, 1
1A01:0B	SubIndex 011	11. PDO Mapping entry (1 bit align)	UINT32	RO	0x0000:00, 1
1A01:0C	SubIndex 012	12. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0D (Status of extern latch))	UINT32	RO	0x6000:0D, 1
1A01:0D	SubIndex 013	13. PDO Mapping entry (object 0x6000 (SM output parameter), entry 0x0E (Sync error))	UINT32	RO	0x6000:0E, 1
1A01:0E	SubIndex 014	14. PDO Mapping entry (1 bit align)	UINT32	RO	0x0000:00, 1
1A01:0F	SubIndex 015	15. PDO Mapping entry (object 0x6000 (ENC TxPDO-Par Status ), entry 0x10 (TxPDO Toggle))	UINT32	RO	0x6000:10, 1
1A01:10	SubIndex 016	16. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x11 (Counter value))	UINT32	RO	0x6000:11, 32
1A01:11	SubIndex 017	17. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x12 (Latch value))	UINT32	RO	0x6000:12, 32

Index 1A02 ENC TxPDO-Map Timest. compact

Index (hex)	Name	Meaning	Data type	Flags	Default
1A02:0	ENC TxPDO-Map Timest. compact	PDO Mapping TxPDO 3	UINT8	RO	0x01 (1_dec)
1A02:01	SubIndex 001	1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x16 (Timestamp))	UINT32	RO	0x6000:16, 32

Index 1A03 STM TxPDO-Map Status

Index (hex)	Name	Meaning	Data type	Flags	Default
1A03:0	STM TxPDO-Map Status	PDO Mapping TxPDO 4	UINT8	RO	0x0D (13_dec)
1A03:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x01 (Ready to enable))	UINT32	RO	0x6010:01, 1
1A03:02	SubIndex 002	2. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x02 (Ready))	UINT32	RO	0x6010:02, 1
1A03:03	SubIndex 003	3. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x03 (Warning))	UINT32	RO	0x6010:03, 1
1A03:04	SubIndex 004	4. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x04 (Error))	UINT32	RO	0x6010:04, 1
1A03:05	SubIndex 005	5. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x05 (Moving positive))	UINT32	RO	0x6010:05, 1
1A03:06	SubIndex 006	6. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x06 (Moving negative))	UINT32	RO	0x6010:06, 1
1A03:07	SubIndex 007	7. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x07 (Torque reduced))	UINT32	RO	0x6010:07, 1
1A03:08	SubIndex 008	8. PDO Mapping entry (4 bits align)	UINT32	RO	0x0000:00, 4
1A03:09	SubIndex 009	9. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x0C (Digital input 1))	UINT32	RO	0x6010:0C, 1
1A03:0A	SubIndex 010	10. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x0D (Digital input 2))	UINT32	RO	0x6010:0D, 1
1A03:0B	SubIndex 011	11. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x0E (Sync error))	UINT32	RO	0x6010:0E, 1
1A03:0C	SubIndex 012	12. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A03:0D	SubIndex 013	13. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x10 (TxPDO Toggle))	UINT32	RO	0x6010:10, 1

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 (4_dec)
1C00:01	SubIndex 001	Sync-Manager Type Channel 1: Mailbox Write	UINT8	RO	0x01 (1_dec)
1C00:02	SubIndex 002	Sync-Manager Type Channel 2: Mailbox Read	UINT8	RO	0x02 (2_dec)
1C00:03	SubIndex 003	Sync-Manager Type Channel 3: Process Data Write (Outputs)	UINT8	RO	0x03 (3_dec)
1C00:04	SubIndex 004	Sync-Manager Type Channel 4: Process Data Read (Inputs)	UINT8	RO	0x04 (4_dec)

Index 1C12 RxPDO assign

Index (hex)	Name	Meaning	Data type	Flags	Default
1C12:0	RxPDO assign	PDO Assign Outputs	UINT8	RW	0x03 (3_dec)
1C12:01	Subindex 001	1. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1600 (5632_dec)
1C12:02	Subindex 002	2. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1602 (5634_dec)
1C12:03	Subindex 003	3. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1604 (5636_dec)
1C12:04	Subindex 004	…	…	…	…

Index 1C13 TxPDO assign

Index (hex)	Name	Meaning	Data type	Flags	Default
1C13:0	TxPDO assign	PDO Assign Inputs	UINT8	RW	0x02 (2_dec)
1C13:01	Subindex 001	1. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A00 (6656_dec)
1C13:02	Subindex 002	2. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A03 (6659_dec)
1C13:03	Subindex 003	…	…	…	…
1C13:04	Subindex 004	…	…	…	…
1C13:05	Subindex 005	…	...	…	…
1C13:06	Subindex 006	…	…	…	…
1C13:07	Subindex 007	…	…	…	…

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 (32_dec)
1C32:01	Sync mode	Current synchronization mode: 0: Free Run 1: Synchronous with SM 2 event 2: DC-Mode - Synchronous with SYNC0 Event 3: DC-Mode - Synchronous with SYNC1 event	UINT16	RW	0x0001 (1_dec)
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	0x000F4240 (1000000_dec)
1C32:03	Shift time	Time between SYNC0 event and output of the outputs (in ns, DC mode only)	UINT32	RO	0x00000000 (0_dec)
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	0xC007 (49159_dec)
1C32:05	Minimum cycle time	Minimum cycle time (in ns)	UINT32	RO	0x0003D090 (250000_dec)
1C32:06	Calc and copy time	Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)	UINT32	RO	0x00000000 (0_dec)
1C32:07	Minimum delay time		UINT32	RO	0x00000000 (0_dec)
1C32:08	Command	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 (0_dec)
1C32:09	Maximum Delay time	Time between SYNC1 event and output of the outputs (in ns, DC mode only)	UINT32	RO	0x00000000 (0_dec)
1C32:0B	SM event missed counter	Number of missed SM events in OPERATIONAL (DC mode only)	UINT16	RO	0x0000 (0_dec)
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 (0_dec)
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 (0_dec)
1C32:20	Sync error	The synchronization was not correct in the last cycle (outputs were output too late; DC mode only)	BOOLEAN	RO	0x00 (0_dec)

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 (32_dec)
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 (34_dec)
1C33:02	Cycle time	as 0x1C32:02	UINT32	RW	0x000F4240 (1000000_dec)
1C33:03	Shift time	Time between SYNC0 event and reading of the inputs (in ns, only DC mode)	UINT32	RO	0x00000000 (0_dec)
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 0x1C32:08 or 0x1C33:08)	UINT16	RO	0xC007 (49159_dec)
1C33:05	Minimum cycle time	as 0x1C32:05	UINT32	RO	0x000249F0 (150000_dec)
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 (0_dec)
1C33:07	Minimum delay time		UINT32	RO	0x00000000 (0_dec)
1C33:08	Command	as 0x1C32:08	UINT16	RW	0x0000 (0_dec)
1C33:09	Maximum Delay time	Time between SYNC1 event and reading of the inputs (in ns, only DC mode)	UINT32	RO	0x00000000 (0_dec)
1C33:0B	SM event missed counter	as 0x1C32:11	UINT16	RO	0x0000 (0_dec)
1C33:0C	Cycle exceeded counter	as 0x1C32:12	UINT16	RO	0x0000 (0_dec)
1C33:0D	Shift too short counter	as 0x1C32:13	UINT16	RO	0x0000 (0_dec)
1C33:20	Sync error	as 0x1C32:32	BOOLEAN	RO	0x00 (0_dec)

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 (2_dec)
F000:01	Module index distance	Index distance of the objects of the individual channels	UINT16	RO	0x0010 (16_dec)
F000:02	Maximum number of modules	Number of channels	UINT16	RO	0x0002 (2_dec)

Index F008 Code word

Index (hex)	Name	Meaning	Data type	Flags	Default
F008:0	Code word	see note!	UINT32	RW	0x00000000 (0_dec)

Index F010 Module list

Index (hex)	Name	Meaning	Data type	Flags	Default
F010:0	Module list	Maximum subindex	UINT8	RW	0x02 (2_dec)
F010:01	SubIndex 001	Profile number of the encoder interface	UINT32	RW	0x000001FF (511_dec)
F010:02	SubIndex 002	Profile number of the stepper motor interface	UINT32	RW	0x000002BF (703_dec)