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 (5001dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL72x1-x01x

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

 

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

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

0x1C213052 (471937106dec)

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 1430 DMC RxPDO-Par Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1430:0

DMC RxPDO-Par Outputs

PDO Parameter RxPDO 10

UINT8

RO

0x06 (6dec)

1430:06

Exclude RxPDOs

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

OCTET-STRING[6]

RO

00 16
01 16
02 16
03 16
04 16
05 16
06 16
07 16
08 16
31 16

Index 1431 DMC RxPDO-Par Outputs 32-bit

Index (hex)

Name

Meaning

Data type

Flags

Default

1431:0

DMC RxPDO-Par Outputs 32 Bit

PDO Parameter RxPDO 11

UINT8

RO

0x06 (6dec)

1431:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 11

OCTET-STRING[6]

RO

00 16
01 16
02 16
03 16
04 16
05 16
06 16
07 16
08 16
30 16

Index 1600 DRV RxPDO-Map Controlword

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

DRV RxPDO-Map Controlword

PDO Mapping RxPDO 1

UINT8

RO

0x01 (1dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x01 (Controlword))

UINT32

RO

0x7010:01, 16

Index 1601 DRV RxPDO-Map Target velocity

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

DRV RxPDO-Map Target velocity

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x06 (Target velocity))

UINT32

RO

0x7010:06, 32

Index 1602 DRV RxPDO-Map Target torque

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

DRV RxPDO-Map Target torque

PDO Mapping RxPDO 3

UINT8

RO

0x01 (1dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x09 (Target torque))

UINT32

RO

0x7010:09, 16

Index 1603 DRV RxPDO-Map Commutation angle

Index (hex)

Name

Meaning

Data type

Flags

Default

1603:0

DRV RxPDO-Map Commutation angle

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x0E (Commutation angle))

UINT32

RO

0x7010:0E, 16

Index 1604 DRV RxPDO-Map Torque limitation

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

DRV RxPDO-Map Torque limitation

PDO Mapping RxPDO 5

UINT8

RO

0x01 (1dec)

1604:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x0B (Torque limitation))

UINT32

RO

0x7010:0B, 16

Index 1605 DRV RxPDO-Map Torque offset

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

DRV RxPDO-Map Torque offset

PDO Mapping RxPDO 6

UINT8

RO

0x01 (1dec)

1605:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x0A (Torque offset))

UINT32

RO

0x7010:0A, 16

Index 1606 DRV RxPDO-Map Target position

Index (hex)

Name

Meaning

Data type

Flags

Default

1606:0

DRV RxPDO-Map Target position

PDO Mapping RxPDO 7

UINT8

RO

0x01 (1dec)

1606:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x05 (Target postion))

UINT32

RO

0x7010:05, 32

Index 1607 FB RxPDO-Map Touch probe control

Index (hex)

Name

Meaning

Data type

Flags

Default

1607:0

FB RxPDO-Map Touch probe control

PDO Mapping RxPDO 8

UINT8

RO

0x0C (12dec)

1607:01

SubIndex 001

1. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x01 (TP1 Enable))

UINT32

RO

0x7001:01, 1

1607:02

SubIndex 002

2. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x02 (TP1 Continous))

UINT32

RO

0x7001:02, 1

1607:03

SubIndex 003

3. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x03 (TP1 Trigger mode))

UINT32

RO

0x7001:03, 2

1607:04

SubIndex 004

4. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x05 (TP1 Enable pos edge))

UINT32

RO

0x7001:05, 1

1607:05

SubIndex 005

5. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x06 (TP1 Enable neg edge))

UINT32

RO

0x7001:06, 1

1607:06

SubIndex 006

6. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1607:07

SubIndex 007

7. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x09 (TP2 Enable))

UINT32

RO

0x7001:09, 1

1607:08

SubIndex 008

8. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x0A (TP2 Continous))

UINT32

RO

0x7001:0A, 1

1607:09

SubIndex 009

9. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x0B (TP2 Trigger mode))

UINT32

RO

0x7001:0B, 2

1607:0A

SubIndex 010

10. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x0D (TP2 Enable pos edge))

UINT32

RO

0x7001:0D, 1

1607:0B

SubIndex 011

11. PDO Mapping entry (object 0x7001 (FB Touch probe outputs), entry 0x0E (TP2 Enable neg edge))

UINT32

RO

0x7001:0E, 1

1607:0C

SubIndex 012

12. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

Index 1608 DRV RxPDO-Map Modes of operation

Index (hex)

Name

Meaning

Data type

Flags

Default

1608:0

DRV RxPDO-Map Modes of operation

PDO Mapping RxPDO 9

UINT8

RO

0x01 (1dec)

1608:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DRV Outputs), entry 0x03 (Modes of operation))

UINT32

RO

0x7010:03, 8

Index 1630 DMC RxPDO-Map Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1630:0

DMC RxPDO-Map Outputs

PDO Mapping RxPDO 10

UINT8

RO

0x12 (18dec)

1630:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1630:02

SubIndex 002

2. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x02 (DMC_FeedbackControl __Enable latch extern on positive edge))

UINT32

RO

0x7030:02, 1

1630:03

SubIndex 003

3. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x03 (DMC_FeedbackControl __Set counter))

UINT32

RO

0x7030:03, 1

1630:04

SubIndex 004

4. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x04 (DMC_FeedbackControl __Enable latch extern on negative edge))

UINT32

RO

0x7030:04, 1

1630:05

SubIndex 005

5. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1630:06

SubIndex 006

6. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x11 (DMC_DriveControl __Enable))

UINT32

RO

0x7030:11, 1

1630:07

SubIndex 007

7. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x12 (DMC_DriveControl __Reset))

UINT32

RO

0x7030:12, 1

1630:08

SubIndex 008

8. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1630:09

SubIndex 009

9. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x21 (DMC_PositionControl __Execute))

UINT32

RO

0x7030:21, 1

1630:0A

SubIndex 010

10. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x22 (DMC_PositionControl __Emergency stop))

UINT32

RO

0x7030:22, 1

1630:0B

SubIndex 011

11. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1630:0C

SubIndex 012

12. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x31 (DMC__Set counter value))

UINT32

RO

0x7030:31, 64

1630:0D

SubIndex 013

13. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x32 (DMC__Target position))

UINT32

RO

0x7030:32, 64

1630:0E

SubIndex 014

14. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x33 (DMC__Target velocity))

UINT32

RO

0x7030:33, 16

1630:0F

SubIndex 015

15. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x34 (DMC__Start types))

UINT32

RO

0x7030:34, 16

1630:10

SubIndex 016

16. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x35 (DMC__Target acceleration))

UINT32

RO

0x7030:35, 16

1630:11

SubIndex 017

17. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x36 (DMC__Target deceleration))

UINT32

RO

0x7030:36, 16

1630:12

SubIndex 018

18. PDO Mapping entry (80 bits align)

UINT32

RO

0x0000:00, 80

Index 1631 DMC RxPDO-Map Outputs 32-bit

Index (hex)

Name

Meaning

Data type

Flags

Default

1631:0

DMC RxPDO-Map Outputs 32

PDO Mapping RxPDO 11

UINT8

RO

0x14 (20dec)

1631:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1631:02

SubIndex 002

2. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x02 (DMC_FeedbackControl __Enable latch extern on positive edge))

UINT32

RO

0x7030:02, 1

1631:03

SubIndex 003

3. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x03 (DMC_FeedbackControl __Set counter))

UINT32

RO

0x7030:03, 1

1631:04

SubIndex 004

4. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x04 (DMC_FeedbackControl __Enable latch extern on negative edge))

UINT32

RO

0x7030:04, 1

1631:05

SubIndex 005

5. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

1631:06

SubIndex 006

6. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x11 (DMC_DriveControl __Enable))

UINT32

RO

0x7030:11, 1

1631:07

SubIndex 007

7. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x12 (DMC_DriveControl __Reset))

UINT32

RO

0x7030:12, 1

1631:08

SubIndex 008

8. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1631:09

SubIndex 009

9. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x21 (DMC_PositionControl __Execute))

UINT32

RO

0x7030:21, 1

1631:0A

SubIndex 010

10. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x22 (DMC_PositionControl __Emergency stop))

UINT32

RO

0x7030:22, 1

1631:0B

SubIndex 011

11. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

1631:0C

SubIndex 012

12. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x31 (DMC__Set counter value))

UINT32

RO

0x7030:31, 32

1631:0D

SubIndex 013

13. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1631:0E

SubIndex 014

14. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x32 (DMC__Target position))

UINT32

RO

0x7030:32, 16

1631:0F

SubIndex 015

15. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1631:10

SubIndex 016

16. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x33 (DMC__Target velocity))

UINT32

RO

0x7030:33, 16

1631:11

SubIndex 017

17. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x34 (DMC__Start types))

UINT32

RO

0x7030:34, 16

1631:12

SubIndex 018

18. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x35 (DMC__Target acceleration))

UINT32

RO

0x7030:35, 16

1631:13

SubIndex 019

19. PDO Mapping entry (object 0x7030 (DMC outputs), entry 0x36 (DMC__Target deceleration))

UINT32

RO

0x7030:36, 16

1631:14

SubIndex 020

20. PDO Mapping entry (80 bits align)

UINT32

RO

0x0000:00, 80

Index 1830 DMC TxPDO-Par Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1830:0

DMC TxPDO-Par Inputs

PDO Parameter TxPDO 15

UINT8

RO

0x06 (6dec)

1830:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 15

OCTET-STRING[32]

RO

00 1A
01 1A
02 1A
03 1A
04 1A
05 1A
06 1A
07 1A
08 1A
09 1A
0A 1A
0B 1A
0C 1A
0E 1A
31 1A

Index 1831 DMC TxPDO-Par Inputs 32-bit

Index (hex)

Name

Meaning

Data type

Flags

Default

1831:0

DMC TxPDO-Par Inputs 32 Bit

PDO Parameter TxPDO 16

UINT8

RO

0x06 (6dec)

1831:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 16

OCTET-STRING[32]

RO

00 1A
01 1A
02 1A
03 1A
04 1A
05 1A
06 1A
07 1A
08 1A
09 1A
0A 1A
0B 1A
0C 1A
0E 1A
30 1A

Index 1A00 FB TxPDO-Map Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

FB TxPDO-Map Position

PDO Mapping TxPDO 1

UINT8

RO

0x01 (1dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x11 (Position))

UINT32

RO

0x6000:11, 32

Index 1A01 DRV TxPDO-Map Statusword

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

DRV TxPDO-Map Statusword

PDO Mapping TxPDO 2

UINT8

RO

0x01 (1dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x01 (Statusword))

UINT32

RO

0x6010:01, 16

Index 1A02 DRV TxPDO-Map Velocity actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

DRV TxPDO-Map Velocity actual value

PDO Mapping TxPDO 3

UINT8

RO

0x01 (1dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x07 (Velocity actual value))

UINT32

RO

0x6010:07, 32

Index 1A03 DRV TxPDO-Map Torque actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

DRV TxPDO-Map Torque actual value

PDO Mapping TxPDO 4

UINT8

RO

0x01 (1dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x08 (Torque actual value))

UINT32

RO

0x6010:08, 16

Index 1A04 DRV TxPDO-Map Info data 1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

DRV TxPDO-Map Info data 1

PDO Mapping TxPDO 5

UINT8

RO

0x01 (1dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x12 (Info data 1))

UINT32

RO

0x6010:12, 16

Index 1A05 DRV TxPDO-Map Info data 2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

DRV TxPDO-Map Info data 2

PDO Mapping TxPDO 6

UINT8

RO

0x01 (1dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x13 (Info data 2))

UINT32

RO

0x6010:13, 16

Index 1A06 DRV TxPDO-Map Following error actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

DRV TxPDO-Map Following error actual value

PDO Mapping TxPDO 7

UINT8

RO

0x01 (1dec)

1A06:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x06 (Following error actual value))

UINT32

RO

0x6010:06, 32

Index 1A07 FB TxPDO-Map Touch probe status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

FB TxPDO-Map Touch probe status

PDO Mapping TxPDO 8

UINT8

RO

0x0A (10dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x01 (TP1 Enable))

UINT32

RO

0x6001:01, 1

1A07:02

SubIndex 002

2. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x02 (TP1 pos value stored))

UINT32

RO

0x6001:02, 1

1A07:03

SubIndex 003

3. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x03 (TP1 Neg value stored))

UINT32

RO

0x6001:03, 1

1A07:04

SubIndex 004

4. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A07:05

SubIndex 005

5. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x08 (TP1 Input))

UINT32

RO

0x6001:08, 1

1A07:06

SubIndex 006

6. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x09 (TP2 Enable))

UINT32

RO

0x6001:09, 1

1A07:07

SubIndex 007

7. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x0A (TP2 pos value stored))

UINT32

RO

0x6001:0A, 1

1A07:08

SubIndex 008

8. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x0B (TP2 neg value stored))

UINT32

RO

0x6001:0B, 1

1A07:09

SubIndex 009

9. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A07:0A

SubIndex 010

10. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x10 (TP2 Input))

UINT32

RO

0x6001:10, 1

Index 1A08 FB TxPDO-Map Touch probe 1 pos position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

FB TxPDO-Map Touch probe 1 pos position

PDO Mapping TxPDO 9

UINT8

RO

0x01 (1dec)

1A08:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (FP Touch probe inputs), entry 0x11 (TP1 Pos position))

UINT32

RO

0x6001:11, 32

Index 1A09 FB TxPDO-Map Touch probe 1 neg position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A09:0

FB TxPDO-Map Touch probe 1 neg position

PDO Mapping TxPDO 10

UINT8

RO

0x01 (1dec)

1A09:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x12 (TP1 Neg position))

UINT32

RO

0x6001:12, 32

Index 1A0A FB TxPDO-Map Touch probe 2 pos position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0A:0

FB TxPDO-Map Touch probe 2 pos position

PDO Mapping TxPDO 11

UINT8

RO

0x01 (1dec)

1A0A:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x13 (TP2 Pos position))

UINT32

RO

0x6001:13, 32

Index 1A0B FB TxPDO-Map Touch probe 2 neg position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0B:0

FB TxPDO-Map Touch probe 2 neg position

PDO Mapping TxPDO 12

UINT8

RO

0x01 (1dec)

1A0B:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs), entry 0x14 (TP2 neg position))

UINT32

RO

0x6001:14, 32

Index 1A0C FB TxPDO-Map Touch probe status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0C:0

FB TxPDO-Map Touch probe status

PDO Mapping TxPDO 13

UINT8

RO

0x03 (3dec)

1A0C:01

SubIndex 001

1. PDO Mapping entry (13 bits align)

UINT32

RO

0x0000:00, 13

1A0C:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x0E (TxPDO State))

UINT32

RO

0x6000:0E, 1

1A0C:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x0F (Input Cycle Counter))

UINT32

RO

0x6000:0F, 2

Index 1A0E DRV TxPDO-Map Modes of operation display

Index (hex)

Name

Meaning

Data type

Flags

Default

1A0E:0

DRV TxPDO-Map Modes of operation display

PDO Mapping TxPDO 14

UINT8

RO

0x01 (1dec)

1A0E:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x03 (Modes of operation display))

UINT32

RO

0x6010:03, 8

Index 1A30 DMC TxPDO-Map Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

1A30:0

DMC RxPDO-Map Inputs

PDO Mapping TxPDO 15

UINT8

RO

0x38 (26dec)

1A30:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A30:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x02 (DMC_FeedbackStatus __Latch extern valid))

UINT32

RO

0x6030:02, 1

1A30:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x03 (DMC_FeedbackStatus __Set counter done))

UINT32

RO

0x6030:03, 1

1A30:04

SubIndex 004

4. PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

1A30:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x0D (DMC_FeedbackStatus __Status of extern latch))

UINT32

RO

0x6030:0D, 1

1A30:06

SubIndex 006

6. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A30:07

SubIndex 007

7. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x11 (DMC_DriveStatus __Ready to enable))

UINT32

RO

0x6030:11, 1

1A30:08

SubIndex 008

8. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x12 (DMC_DriveStatus __Ready))

UINT32

RO

0x6030:12, 1

1A30:09

SubIndex 009

9. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x13 (DMC_DriveStatus __Warning))

UINT32

RO

0x6030:13, 1

1A30:0A

SubIndex 010

10. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x14 (DMC_DriveStatus __Error))

UINT32

RO

0x6030:14, 1

1A30:0B

SubIndex 011

11. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x15 (DMC_DriveStatus __Moving positive))

UINT32

RO

0x6030:15, 1

1A30:0C

SubIndex 012

12. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x16 (DMC_DriveStatus __Moving negative))

UINT32

RO

0x6030:16, 1

1A30:0D

SubIndex 013

13. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A30:0E

SubIndex 014

14. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x1C (DMC_DriveStatus __Digital input 1))

UINT32

RO

0x6030:1C, 1

1A30:0F

SubIndex 015

15. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x1D (DMC_DriveStatus __Digital input 2))

UINT32

RO

0x6030:1D, 1

1A30:10

SubIndex 016

16. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A30:11

SubIndex 017

17. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x21 (DMC_PositioningStatus __Busy))

UINT32

RO

0x6030:21, 1

1A30:12

SubIndex 018

18. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x22 (DMC_PositioningStatus __In-Target))

UINT32

RO

0x6030:22, 1

1A30:13

SubIndex 019

19. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x23 (DMC_PositioningStatus __Warning))

UINT32

RO

0x6030:23, 1

1A30:14

SubIndex 020

20. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x24 (DMC_PositioningStatus __Error))

UINT32

RO

0x6030:24, 1

1A30:15

SubIndex 021

21. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x25 (DMC_PositioningStatus __Calibrated))

UINT32

RO

0x6030:25, 1

1A30:16

SubIndex 022

22. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x26 (DMC_PositioningStatus __Accelerate))

UINT32

RO

0x6030:26, 1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A30:17

SubIndex 023

23. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x27 (DMC_PositioningStatus __Decelerate))

UINT32

RO

0x6030:27, 1

1A30:18

SubIndex 024

24. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x28 (DMC_PositioningStatus __Ready to execute))

UINT32

RO

0x6030:28, 1

1A30:19

SubIndex 025

25. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A30:1A

SubIndex 026

26. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x31 (DMC_Set position))

UINT32

RO

0x6030:31, 64

1A30:1B

SubIndex 027

27. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x32 (DMC_Set velocity))

UINT32

RO

0x6030:32, 16

1A30:1C

SubIndex 028

28. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x33 (DMC_Actual dirve time))

UINT32

RO

0x6030:33, 32

1A30:1D

SubIndex 029

29. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x34 (DMC_Actual position lag))

UINT32

RO

0x6030:34, 64

1A30:1E

SubIndex 030

30. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x35 (DMC_Actual velocity))

UINT32

RO

0x6030:35, 16

1A30:1F

SubIndex 031

31. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x36 (DMC_Actual position))

UINT32

RO

0x6030:36, 64

1A30:20

SubIndex 032

32. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x37 (DMC_Error id))

UINT32

RO

0x6030:37, 32

1A30:21

SubIndex 033

33. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x38 (DMC_Input cycle counter))

UINT32

RO

0x6030:38, 8

1A30:22

SubIndex 034

34. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A30:23

SubIndex 035

35. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3A (DMC_Latch value))

UINT32

RO

0x6030:3A, 64

1A30:24

SubIndex 036

36. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3B (DMC_Cyclic info data 1))

UINT32

RO

0x6030:3B, 16

1A30:25

SubIndex 037

37. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3C (DMC_Cyclic info data 2))

UINT32

RO

0x6030:3C, 16

1A30:26

SubIndex 038

38. PDO Mapping entry (64 bits align)

UINT32

RO

0x0000:00, 64

Index 1A31 DMC TxPDO-Map Inputs 32-bit

Index (hex)

Name

Meaning

Data type

Flags

Default

1A31:0

DMC TxPDO-Map Inputs 32 Bit

PDO Mapping TxPDO 16

UINT8

RO

0x42 (2Adec)

1A31:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A31:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x02 (DMC_FeedbackStatus __Latch extern valid))

UINT32

RO

0x6030:02, 1

1A31:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x03 (DMC_FeedbackStatus __Set counter done))

UINT32

RO

0x6030:03, 1

1A31:04

SubIndex 004

4. PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

1A31:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x0D (DMC_FeedbackStatus __Status of extern latch))

UINT32

RO

0x6030:0D, 1

1A31:06

SubIndex 006

6. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A31:07

SubIndex 007

7. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x11 (DMC_DriveStatus __Ready to enable))

UINT32

RO

0x6030:11, 1

1A31:08

SubIndex 008

8. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x12 (DMC_DriveStatus __Ready))

UINT32

RO

0x6030:12, 1

1A31:09

SubIndex 009

9. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x13 (DMC_DriveStatus __Warning))

UINT32

RO

0x6030:13, 1

1A31:0A

SubIndex 010

10. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x14 (DMC_DriveStatus __Error))

UINT32

RO

0x6030:14, 1

1A31:0B

SubIndex 011

11. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x15 (DMC_DriveStatus __Moving positive))

UINT32

RO

0x6030:15, 1

1A31:0C

SubIndex 012

12. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x16 (DMC_DriveStatus __Moving negative))

UINT32

RO

0x6030:16, 1

1A31:0D

SubIndex 013

13. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A31:0E

SubIndex 014

14. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x1C (DMC_DriveStatus __Digital input 1))

UINT32

RO

0x6030:1C, 1

1A31:0F

SubIndex 015

15. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x1D (DMC_DriveStatus __Digital input 2))

UINT32

RO

0x6030:1D, 1

1A31:10

SubIndex 016

16. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A31:11

SubIndex 017

17. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x21 (DMC_PositioningStatus __Busy))

UINT32

RO

0x6030:21, 1

1A31:12

SubIndex 018

18. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x22 (DMC_PositioningStatus __In-Target))

UINT32

RO

0x6030:22, 1

1A31:13

SubIndex 019

19. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x23 (DMC_PositioningStatus __Warning))

UINT32

RO

0x6030:23, 1

1A31:14

SubIndex 020

20. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x24 (DMC_PositioningStatus __Error))

UINT32

RO

0x6030:24, 1

1A31:15

SubIndex 021

21. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x25 (DMC_PositioningStatus __Calibrated))

UINT32

RO

0x6030:25, 1

1A31:16

SubIndex 022

22. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x26 (DMC_PositioningStatus __Accelerate))

UINT32

RO

0x6030:26, 1

1A31:17

SubIndex 023

23. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x27 (DMC_PositioningStatus __Decelerate))

UINT32

RO

0x6030:27, 1

1A31:18

SubIndex 024

24. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x28 (DMC_PositioningStatus __Ready to execute))

UINT32

RO

0x6030:28, 1

1A31:19

SubIndex 025

25. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A31:1A

SubIndex 026

26. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x31 (DMC_Set position))

UINT32

RO

0x6030:31, 32

1A31:1B

SubIndex 027

27. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A31:1C

SubIndex 028

28. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x32 (DMC_Set velocity))

UINT32

RO

0x6030:32, 16

1A31:1D

SubIndex 029

29. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x33 (DMC_Actual dirve time))

UINT32

RO

0x6030:33, 32

1A31:1E

SubIndex 030

30. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x34 (DMC_Actual position lag))

UINT32

RO

0x6030:34, 32

1A31:1F

SubIndex 031

31. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A31:20

SubIndex 032

32. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x35 (DMC_Actual velocity))

UINT32

RO

0x6030:35, 16

Index (hex)

Name

Meaning

Data type

Flags

Default

1A31:21

SubIndex 033

33. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x36 (DMC_Actual position))

UINT32

RO

0x6030:36, 32

1A31:22

SubIndex 034

34. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A31:23

SubIndex 035

35. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x37 (DMC_Error id))

UINT32

RO

0x6030:37, 32

1A31:24

SubIndex 036

36. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x38 (DMC_Input cycle counter))

UINT32

RO

0x6030:38, 8

1A31:25

SubIndex 037

37. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A31:26

SubIndex 038

38. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3A (DMC_Latch value))

UINT32

RO

0x6030:3A, 32

1A31:27

SubIndex 039

39. PDO Mapping entry (32 bits align)

UINT32

RO

0x0000:00, 32

1A31:28

SubIndex 040

40. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3B (DMC_Cyclic info data 1))

UINT32

RO

0x6030:3B, 16

1A31:29

SubIndex 041

41. PDO Mapping entry (object 0x6030 (DMC inputs), entry 0x3C (DMC_Cyclic info data 2))

UINT32

RO

0x6030:3C, 16

1A31:2A

SubIndex 042

42. PDO Mapping entry (64 bits align)

UINT32

RO

0x0000:00, 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

0x02 (2dec)

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

0x1601 (5633dec)

1C12:03

Subindex 003

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

UINT16

RW

0x0000 (0dec)

1C12:04

Subindex 004

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

UINT16

RW

0x0000 (0dec)

1C12:05

Subindex 005

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

UINT16

RW

0x0000 (0dec)

1C12:06

Subindex 006

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

UINT16

RW

0x0000 (0dec)

1C12:07

Subindex 007

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

UINT16

RW

0x0000 (0dec)

1C12:08

Subindex 008

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

UINT16

RW

0x0000 (0dec)

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

0x1A01 (6657dec)

1C13:03

Subindex 003

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

UINT16

RW

0x1A02 (6658dec)

1C13:04

Subindex 004

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

UINT16

RW

0x0000 (0dec)

1C13:05

Subindex 005

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

UINT16

RW

0x0000 (0dec)

1C13:06

Subindex 006

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

UINT16

RW

0x0000 (0dec)

1C13:07

Subindex 007

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

UINT16

RW

0x0000 (0dec)

1C13:08

Subindex 008

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

UINT16

RW

0x0000 (0dec)

1C13:09

Subindex 009

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

UINT16

RW

0x0000 (0dec)

1C13:0A

Subindex 010

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

UINT16

RW

0x0000 (0dec)

1C13:0B

Subindex 011

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

UINT16

RW

0x0000 (0dec)

1C13:0C

Subindex 012

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

UINT16

RW

0x0000 (0dec)

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:

  • 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 0x1C32:08)

UINT16

RO

0x4808 (18440dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0001E848 (125000dec)

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

 

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 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, and 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:

  • 3: DC - Synchron with SYNC1 Event

UINT16

RW

0x0000 (0dec)

1C33:02

Cycle time

as 0x1C32:02 

UINT32

RW

0x0003D090 (250000dec)

1C33:03

Shift time

Time between SYNC0 event and reading of the inputs (in ns, only DC mode)

UINT32

RO

0x00001C52 (7250dec)

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

0x4808 (18440dec)

1C33:05

Minimum cycle time

as 0x1C32:05 

UINT32

RO

0x0001E848 (125000dec)

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)

1C33:07

Minimum delay time

 

UINT32

RO

0x00001C52 (7250dec)

1C33:08

Command

as 0x1C32:08

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

0x00001C52 (7250dec)

1C33:0B

SM event missed counter

as 0x1C32:11 

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:12 

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 0x1C32:13 

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 0x1C32:32 

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 spacing of the objects of the individual channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0004 (4dec)

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

Encoder profile number

UINT32

RW

0x00000201 (513dec)

F010:02

SubIndex 002

Servo drive profile number

UINT32

RW

0x000002E6 (742dec)

F010:03

SubIndex 003

 

UINT32

RW

0x00000000 (0dec)

F010:04

SubIndex 004

Profile number travel distance control

UINT32

RW

0x000002EE (750dec)

Index FB40 Memory interface

Index (hex)

Name

Meaning

Data type

Flags

Default

FB40:0

Memory interface

Maximum subindex

UINT8

RO

0x03 (3dec)

FB40:01

Address

reserved

UINT32

RW

0x00000000 (0dec)

FB40:02

Length

reserved

UINT16

RW

0x0000 (0dec)

FB40:03

Data

reserved

OCTET-STRING[8]

RW

{0}