Standard objects
The standard objects have the same meaning for all EtherCAT slaves.
Index 1000 Device type
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1000:0 | Device type | Device type of the EtherCAT slave: The Lo-Word contains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile. | UINT32 | RO | 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 | EL7411 |
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 | 00 |
Index 100B Bootloader version
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
100B:0 | Bootloader version |
| STRING | RO | N/A |
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 | 0x1CF33052 (485699666dec) |
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 10E2 Manufacturer-specific Identification Code
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
10E2:0 | Manufacturer-specific identification code |
| UINT8 | RO | 0x01 (1dec) |
10E2:01 | SubIndex 001 |
| STRING | RO |
|
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 10F3 Diagnosis History
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
10F3:0 | Diagnosis History |
| UINT8 | RO | 0x37 (55dec) |
10F3:01 | Maximum Messages |
| UINT8 | RO | 0x00 (0dec) |
10F3:02 | Newest Message |
| UINT8 | RO | 0x00 (0dec) |
10F3:03 | Newest Acknowledged Message |
| UINT8 | RW | 0x00 (0dec) |
10F3:04 | New Messages Available |
| BOOLEAN | RO | 0x00 (0dec) |
10F3:05 | Flags |
| UINT16 | RW | 0x0000 (0dec) |
10F3:06 | Diagnosis Message 001 |
| OCTET-STRING[28] | RO | {0} |
10F3:07 | Diagnosis Message 002 |
| OCTET-STRING[28] | RO | {0} |
10F3:08 | Diagnosis Message 003 |
| OCTET-STRING[28] | RO | {0} |
10F3:09 | Diagnosis Message 004 |
| OCTET-STRING[28] | RO | {0} |
10F3:0A | Diagnosis Message 005 |
| OCTET-STRING[28] | RO | {0} |
10F3:0B | Diagnosis Message 006 |
| OCTET-STRING[28] | RO | {0} |
10F3:0C | Diagnosis Message 007 |
| OCTET-STRING[28] | RO | {0} |
10F3:0D | Diagnosis Message 008 |
| OCTET-STRING[28] | RO | {0} |
10F3:0E | Diagnosis Message 009 |
| OCTET-STRING[28] | RO | {0} |
10F3:0F | Diagnosis Message 010 |
| OCTET-STRING[28] | RO | {0} |
10F3:10 | Diagnosis Message 011 |
| OCTET-STRING[28] | RO | {0} |
10F3:11 | Diagnosis Message 012 |
| OCTET-STRING[28] | RO | {0} |
10F3:12 | Diagnosis Message 013 |
| OCTET-STRING[28] | RO | {0} |
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
10F3:13 | Diagnosis Message 014 |
| OCTET-STRING[28] | RO | {0} |
10F3:14 | Diagnosis Message 015 |
| OCTET-STRING[28] | RO | {0} |
10F3:15 | Diagnosis Message 016 |
| OCTET-STRING[28] | RO | {0} |
10F3:16 | Diagnosis Message 017 |
| OCTET-STRING[28] | RO | {0} |
10F3:17 | Diagnosis Message 018 |
| OCTET-STRING[28] | RO | {0} |
10F3:18 | Diagnosis Message 019 |
| OCTET-STRING[28] | RO | {0} |
10F3:19 | Diagnosis Message 020 |
| OCTET-STRING[28] | RO | {0} |
10F3:1A | Diagnosis Message 021 |
| OCTET-STRING[28] | RO | {0} |
10F3:1B | Diagnosis Message 022 |
| OCTET-STRING[28] | RO | {0} |
10F3:1C | Diagnosis Message 023 |
| OCTET-STRING[28] | RO | {0} |
10F3:1D | Diagnosis Message 024 |
| OCTET-STRING[28] | RO | {0} |
10F3:1E | Diagnosis Message 025 |
| OCTET-STRING[28] | RO | {0} |
10F3:1F | Diagnosis Message 026 |
| OCTET-STRING[28] | RO | {0} |
10F3:20 | Diagnosis Message 027 |
| OCTET-STRING[28] | RO | {0} |
10F3:21 | Diagnosis Message 028 |
| OCTET-STRING[28] | RO | {0} |
10F3:22 | Diagnosis Message 029 |
| OCTET-STRING[28] | RO | {0} |
10F3:23 | Diagnosis Message 030 |
| OCTET-STRING[28] | RO | {0} |
10F3:24 | Diagnosis Message 031 |
| OCTET-STRING[28] | RO | {0} |
10F3:25 | Diagnosis Message 032 |
| OCTET-STRING[28] | RO | {0} |
10F3:26 | Diagnosis Message 033 |
| OCTET-STRING[28] | RO | {0} |
10F3:27 | Diagnosis Message 034 |
| OCTET-STRING[28] | RO | {0} |
10F3:28 | Diagnosis Message 035 |
| OCTET-STRING[28] | RO | {0} |
10F3:29 | Diagnosis Message 036 |
| OCTET-STRING[28] | RO | {0} |
10F3:2A | Diagnosis Message 037 |
| OCTET-STRING[28] | RO | {0} |
10F3:2B | Diagnosis Message 038 |
| OCTET-STRING[28] | RO | {0} |
10F3:2C | Diagnosis Message 039 |
| OCTET-STRING[28] | RO | {0} |
10F3:2D | Diagnosis Message 040 |
| OCTET-STRING[28] | RO | {0} |
10F3:2E | Diagnosis Message 041 |
| OCTET-STRING[28] | RO | {0} |
10F3:2F | Diagnosis Message 042 |
| OCTET-STRING[28] | RO | {0} |
10F3:30 | Diagnosis Message 043 |
| OCTET-STRING[28] | RO | {0} |
10F3:31 | Diagnosis Message 044 |
| OCTET-STRING[28] | RO | {0} |
10F3:32 | Diagnosis Message 045 |
| OCTET-STRING[28] | RO | {0} |
10F3:33 | Diagnosis Message 046 |
| OCTET-STRING[28] | RO | {0} |
10F3:34 | Diagnosis Message 047 |
| OCTET-STRING[28] | RO | {0} |
10F3:35 | Diagnosis Message 048 |
| OCTET-STRING[28] | RO | {0} |
10F3:36 | Diagnosis Message 049 |
| OCTET-STRING[28] | RO | {0} |
10F3:37 | Diagnosis Message 050 |
| OCTET-STRING[28] | RO | {0} |
Index 10F8 Actual Time Stamp
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
10F8:0 | Actual Time Stamp |
| UINT64 | RO |
|
Index 1600 DRV RxPDO-map control word
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1600:0 | DRV RxPDO-map control word | PDO Mapping RxPDO 1 | UINT8 | RO | 0x01 (1dec) |
1600:01 | SubIndex 001 | 1. PDO mapping entry (object 0x7010 (DRV outputs), entry 0x01 (control word)) | 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 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 position)) | 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 FAN RxPDO-Map Outputs Device
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1608:0 | FAN RxPDO-Map Outputs Device | PDO Mapping RxPDO 9 | UINT8 | RO | 0x02 (2dec) |
1608:01 | SubIndex 001 | 1. PDO Mapping entry (object 0xF700 (FAN Outputs), entry 0x01 (Fan mode/Standard output)) | UINT32 | RO | 0xF700:01, 1 |
1608:02 | SubIndex 002 | 2. PDO Mapping entry (15 bits align) | UINT32 | RO | 0x0000:00, 15 |
Index 1640 DMC RxPDO-Map Outputs
Index | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1640:0 | DMC RxPDO-Map Outputs | DMC RxPDO-Map Outputs | UINT8 | RO | 0x12 (18dec) |
1640:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1640:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x02 (DMC_FeedbackControl__Enable latch extern on positive edge)) | UINT32 | RO | 0x7040:02, 1 |
1640:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x03 (DMC_FeedbackControl__Set counter)) | UINT32 | RO | 0x7040:03, 1 |
1640:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge)) | UINT32 | RO | 0x7040:04, 1 |
1640:05 | SubIndex 005 | 5. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x0000:00, 12 |
1640:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x11 (DMC__DriveControl__Enable)) | UINT32 | RO | 0x7040:11, 1 |
1640:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x12 (DMC__DriveControl__Reset)) | UINT32 | RO | 0x7040:12, 1 |
1640:08 | SubIndex 008 | 8. PDO Mapping entry (14 bits align) | UINT32 | RO | 0x0000:00, 14 |
1640:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x21 (DMC__PositioningControl__Execute)) | UINT32 | RO | 0x7040:21, 1 |
1640:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x22 (DMC__PositioningControl__Emergency stop)) | UINT32 | RO | 0x7040:22, 1 |
1640:0B | SubIndex 011 | 11. PDO Mapping entry (14 bits align) | UINT32 | RO | 0x0000:00, 14 |
1640:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x31 (DMC__Set counter value)) | UINT32 | RO | 0x7040:31, 64 |
1640:0D | SubIndex 013 | 13. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x32 (DMC__Target position)) | UINT32 | RO | 0x7040:32, 64 |
1640:0E | SubIndex 014 | 14. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x33 (DMC__Target velocity)) | UINT32 | RO | 0x7040:33, 16 |
1640:0F | SubIndex 015 | 15. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x34 (DMC__Start type)) | UINT32 | RO | 0x7040:34, 16 |
1640:10 | SubIndex 016 | 16. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x35 (DMC__Target acceleration)) | UINT32 | RO | 0x7040:35, 16 |
1640:11 | SubIndex 017 | 17. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x36 (DMC__Target deceleration)) | UINT32 | RO | 0x7040:36, 16 |
1640:12 | SubIndex 018 | 18. PDO Mapping entry (80 bits align) | UINT32 | RO | 0x0000:00, 80 |
Index 1641 DMC RxPDO-Map Outputs 32 Bit
Index | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1641:0 | DMC RxPDO-Map Outputs 32 Bit | PDO Mapping RxPDO 66 | UINT8 | RO | 0x14 (20dec) |
1641:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1641:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge)) | UINT32 | RO | 0x7040:02, 1 |
1641:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x03 (DMC__FeedbackControl__Set counter)) | UINT32 | RO | 0x7040:03, 1 |
1641:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge)) | UINT32 | RO | 0x7040:04, 1 |
1641:05 | SubIndex 005 | 5. PDO Mapping entry (12 bits align) | UINT32 | RO | 0x0000:00, 12 |
1641:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x11 (DMC__DriveControl__Enable)) | UINT32 | RO | 0x7040:11, 1 |
1641:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x12 (DMC__DriveControl__Reset)) | UINT32 | RO | 0x7040:12, 1 |
1641:08 | SubIndex 008 | 8. PDO Mapping entry (14 bits align) | UINT32 | RO | 0x0000:00, 14 |
1641:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x21 (DMC__PositioningControl__Execute)) | UINT32 | RO | 0x7040:21, 1 |
1641:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x22 (DMC__PositioningControl__Emergency stop)) | UINT32 | RO | 0x7040:22, 1 |
1641:0B | SubIndex 011 | 11. PDO Mapping entry (14 bits align) | UINT32 | RO | 0x0000:00, 14 |
1641:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x31 (DMC__Set counter value)) | UINT32 | RO | 0x7040:31, 32 |
1641:0D | SubIndex 013 | 13. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1641:0E | SubIndex 014 | 14. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x32 (DMC__Target position)) | UINT32 | RO | 0x7040:32, 32 |
1641:0F | SubIndex 015 | 15. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1641:10 | SubIndex 016 | 16. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x33 (DMC__Target velocity)) | UINT32 | RO | 0x7040:33, 16 |
1641:11 | SubIndex 017 | 17. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x34 (DMC__Start type)) | UINT32 | RO | 0x7040:34, 16 |
Index | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1641:12 | SubIndex 018 | 18. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x35 (DMC__Target acceleration)) | UINT32 | RO | 0x7040:35, 16 |
1641:13 | SubIndex 019 | 19. PDO Mapping entry (object 0x7040 (DMC Outputs), entry 0x36 (DMC__Target deceleration)) | UINT32 | RO | 0x7040:36, 16 |
1641:14 | SubIndex 020 | 20. PDO Mapping entry (80 bits align) | UINT32 | RO | 0x0000:00, 80 |
Index 1A00 FB TxPDO-Map Position
Index | 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 (FB 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 1A0D DRV TxPDO-Map Info data 3
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A0D:0 | DRV TxPDO-Map Info data 3 | PDO Mapping TxPDO 14 | UINT8 | RO | 0x01 (1dec) |
1A0D:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6010 (DRV Inputs), entry 0x14 (Info data 3)) | UINT32 | RO | 0x6010:14, 16 |
Index 1A0E FB TxPDO-Map Enc Position
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A0E:0 | FB TxPDO-Map Enc Position | PDO Mapping TxPDO 15 | UINT8 | RO | 0x01 (1dec) |
1A0E:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6000 (FB Inputs), entry 0x12 (Enc Position)) | UINT32 | RO | 0x6000:12, 32 |
Index 1A0F FAN TxPDO-Map Inputs Device
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A0F:0 | FAN TxPDO-Map Inputs Device | PDO Mapping TxPDO 16 | UINT8 | RO | 0x02 (2dec) |
1A0F:01 | SubIndex 001 | 1. PDO Mapping entry (object 0xF600 (FAN Inputs), entry 0x01 (Fan diag/Standard input)) | UINT32 | RO | 0xF600:01, 1 |
1A0F:02 | SubIndex 002 | 2. PDO Mapping entry (15 bits align) | UINT32 | RO | 0x0000:00, 15 |
Index 1A10 DI TxPDO-Map Inputs
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A10:0 | DI TxPDO-Map Inputs | PDO Mapping TxPDO 17 | UINT8 | RO | 0x0E (14dec) |
1A10:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x01 (Input 1)) | UINT32 | RO | 0x6020:01, 1 |
1A10:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x02 (Input 2)) | UINT32 | RO | 0x6020:02, 1 |
1A10:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x03 (Fan Diag)) | UINT32 | RO | 0x6020:03, 1 |
1A10:04 | SubIndex 004 | 4. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A10:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x05 (Encoder A)) | UINT32 | RO | 0x6020:05, 1 |
1A10:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x06 (Encoder B)) | UINT32 | RO | 0x6020:06, 1 |
1A10:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x07 (Encoder C)) | UINT32 | RO | 0x6020:07, 1 |
1A10:08 | SubIndex 008 | 8. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A10:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x09 (Hall A)) | UINT32 | RO | 0x6020:09, 1 |
1A10:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x0A (Hall B)) | UINT32 | RO | 0x6020:0A, 1 |
1A10:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x0B (Hall C)) | UINT32 | RO | 0x6020:0B, 1 |
1A10:0C | SubIndex 012 | 12. PDO Mapping entry (1 bits align) | UINT32 | RO | 0x0000:00, 1 |
1A10:0D | SubIndex 013 | 13. PDO Mapping entry (object 0x6020 (DI Inputs), entry 0x0D (Level of STO input)) | UINT32 | RO | 0x6020:0D, 1 |
1A10:0E | SubIndex 014 | 14. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
Index 1A40 DMC TxPDO-Map Inputs
Index | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A40:0 | DMC TxPDO-Map Inputs | PDO Mapping TxPDO 65 | UINT8 | RO | 0x26 (38dec) |
1A40:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1A40:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x02 (DMC__FeedbackStatus__Latch extern valid)) | UINT32 | RO | 0x6040:02, 1 |
1A40:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x03 (DMC__FeedbackStatus__Set counter done)) | UINT32 | RO | 0x6040:03, 1 |
1A40:04 | SubIndex 004 | 4. PDO Mapping entry (9 bits align) | UINT32 | RO | 0x0000:00, 9 |
1A40:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x0D (DMC__FeedbackStatus__Status of extern latch)) | UINT32 | RO | 0x6040:0D, 1 |
1A40:06 | SubIndex 006 | 6. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A40:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x11 (DMC__DriveStatus__Ready to enable)) | UINT32 | RO | 0x6040:11, 1 |
1A40:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x12 (DMC__DriveStatus__Ready)) | UINT32 | RO | 0x6040:12, 1 |
1A40:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x13 (DMC__DriveStatus__Warning)) | UINT32 | RO | 0x6040:13, 1 |
1A40:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x14 (DMC__DriveStatus__Error)) | UINT32 | RO | 0x6040:14, 1 |
1A40:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x15 (DMC__DriveStatus__Moving positive)) | UINT32 | RO | 0x6040:15, 1 |
1A40:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x16 (DMC__DriveStatus__Moving negative)) | UINT32 | RO | 0x6040:16, 1 |
1A40:0D | SubIndex 013 | 13. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A40:0E | SubIndex 014 | 14. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x1C (DMC__DriveStatus__Digital input 1)) | UINT32 | RO | 0x6040:1C, 1 |
1A40:0F | SubIndex 015 | 15. PDO Mapping entry | UINT32 | RO | 0x6040:1D, 1 |
1A40:10 | SubIndex 016 | 16. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A40:11 | SubIndex 017 | 17. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x21 (DMC__PositioningStatus__Busy)) | UINT32 | RO | 0x6040:21, 1 |
Index | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A40:12 | SubIndex 018 | 18. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x22 (DMC__PositioningStatus__In-Target)) | UINT32 | RO | 0x6040:22, 1 |
1A40:13 | SubIndex 019 | 19. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x23 (DMC__PositioningStatus__Warning)) | UINT32 | RO | 0x6040:23, 1 |
1A40:14 | SubIndex 020 | 20. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x24 (DMC__PositioningStatus__Error)) | UINT32 | RO | 0x6040:24, 1 |
1A40:15 | SubIndex 021 | 21. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x25 (DMC__PositioningStatus__Calibrated)) | UINT32 | RO | 0x6040:25, 1 |
1A40:16 | SubIndex 022 | 22. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x26 (DMC__PositioningStatus__Accelerate)) | UINT32 | RO | 0x6040:26, 1 |
1A40:17 | SubIndex 023 | 23. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x27 (DMC__PositioningStatus__Decelerate)) | UINT32 | RO | 0x6040:27, 1 |
1A40:18 | SubIndex 024 | 24. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x28 (DMC__PositioningStatus__Ready to execute)) | UINT32 | RO | 0x6040:28, 1 |
1A40:19 | SubIndex 025 | 25. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A40:1A | SubIndex 026 | 26. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x31 (DMC__Set position)) | UINT32 | RO | 0x6040:31, 64 |
1A40:1B | SubIndex 027 | 27. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x32 (DMC__Set velocity)) | UINT32 | RO | 0x6040:32, 16 |
1A40:1C | SubIndex 028 | 28. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x33 (DMC__Actual drive time)) | UINT32 | RO | 0x6040:33, 32 |
1A40:1D | SubIndex 029 | 29. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x34 (DMC__Actual position lag)) | UINT32 | RO | 0x6040:34, 64 |
1A40:1E | SubIndex 030 | 30. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x35 (DMC__Actual velocity)) | UINT32 | RO | 0x6040:35, 16 |
1A40:1F | SubIndex 031 | 31. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x36 (DMC__Actual position)) | UINT32 | RO | 0x6040:36, 64 |
1A40:20 | SubIndex 032 | 32. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x37 (DMC__Error id)) | UINT32 | RO | 0x6040:37, 32 |
1A40:21 | SubIndex 033 | 33. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x38 (DMC__Input cycle counter)) | UINT32 | RO | 0x6040:38, 8 |
1A40:22 | SubIndex 034 | 34. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x39 (DMC__Channel id)) | UINT32 | RO | 0x6040:39, 8 |
1A40:23 | SubIndex 035 | 35. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3A (DMC__Latch value)) | UINT32 | RO | 0x6040:3A, 64 |
1A40:24 | SubIndex 036 | 36. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3B (DMC__Cyclic info data 1)) | UINT32 | RO | 0x6040:3B, 16 |
1A40:25 | SubIndex 037 | 37. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3C (DMC__Cyclic info data 2)) | UINT32 | RO | 0x6040:3C, 16 |
1A40:26 | SubIndex 038 | 38. PDO Mapping entry (64 bits align) | UINT32 | RO | 0x0000:00, 64 |
Index 1A41 DMC TxPDO-Map Inputs 32 Bit
Index | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A41:0 | DMC TxPDO-Map Inputs 32 Bit | PDO Mapping TxPDO 66 | UINT8 | RO | 0x2A (42dec) |
1A41:01 | SubIndex 001 | 1. PDO Mapping entry (1 bit align) | UINT32 | RO | 0x0000:00, 1 |
1A41:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x02 (DMC__FeedbackStatus__Latch extern valid)) | UINT32 | RO | 0x6040:02, 1 |
1A41:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x03 (DMC__FeedbackStatus__Set counter done)) | UINT32 | RO | 0x6040:03, 1 |
1A41:04 | SubIndex 004 | 4. PDO Mapping entry (9 bits align) | UINT32 | RO | 0x0000:00, 9 |
1A41:05 | SubIndex 005 | 5. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x0D (DMC__FeedbackStatus__Status of extern latch)) | UINT32 | RO | 0x6040:0D, 1 |
1A41:06 | SubIndex 006 | 6. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A41:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x11 (DMC__DriveStatus__Ready to enable)) | UINT32 | RO | 0x6040:11, 1 |
1A41:08 | SubIndex 008 | 8. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x12 (DMC__DriveStatus__Ready)) | UINT32 | RO | 0x6040:12, 1 |
1A41:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x13 (DMC__DriveStatus__Warning)) | UINT32 | RO | 0x6040:13, 1 |
1A41:0A | SubIndex 010 | 10. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x14 (DMC__DriveStatus__Error)) | UINT32 | RO | 0x6040:14, 1 |
1A41:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x15 (DMC__DriveStatus__Moving positive)) | UINT32 | RO | 0x6040:15, 1 |
1A41:0C | SubIndex 012 | 12. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x16 (DMC__DriveStatus__Moving negative)) | UINT32 | RO | 0x6040:16, 1 |
1A41:0D | SubIndex 013 | 13. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1A41:0E | SubIndex 014 | 14. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x1C (DMC__DriveStatus__Digital input 1)) | UINT32 | RO | 0x6040:1C, 1 |
1A41:0F | SubIndex 015 | 15. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x1D (DMC__DriveStatus__Digital input 2)) | UINT32 | RO | 0x6040:1D, 1 |
1A41:10 | SubIndex 016 | 16. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A41:11 | SubIndex 017 | 17. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x21 (DMC__PositioningStatus__Busy)) | UINT32 | RO | 0x6040:21, 1 |
Index | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1A41:12 | SubIndex 018 | 18. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x22 (DMC__PositioningStatus__In-Target)) | UINT32 | RO | 0x6040:22, 1 |
1A41:13 | SubIndex 019 | 19. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x23 (DMC__PositioningStatus__Warning)) | UINT32 | RO | 0x6040:23, 1 |
1A41:14 | SubIndex 020 | 20. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x24 (DMC__PositioningStatus__Error)) | UINT32 | RO | 0x6040:24, 1 |
1A41:15 | SubIndex 021 | 21. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x25 (DMC__PositioningStatus__Calibrated)) | UINT32 | RO | 0x6040:25, 1 |
1A41:16 | SubIndex 022 | 22. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x26 (DMC__PositioningStatus__Accelerate)) | UINT32 | RO | 0x6040:26, 1 |
1A41:17 | SubIndex 023 | 23. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x27 (DMC__PositioningStatus__Decelerate)) | UINT32 | RO | 0x6040:27, 1 |
1A41:18 | SubIndex 024 | 24. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x28 (DMC__PositioningStatus__Ready to execute)) | UINT32 | RO | 0x6040:28, 1 |
1A41:19 | SubIndex 025 | 25. PDO Mapping entry (8 bits align) | UINT32 | RO | 0x0000:00, 8 |
1A41:1A | SubIndex 026 | 26. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x31 (DMC__Set position)) | UINT32 | RO | 0x6040:31, 32 |
1A41:1B | SubIndex 027 | 27. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1A41:1C | SubIndex 028 | 28. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x32 (DMC__Set velocity)) | UINT32 | RO | 0x6040:32, 16 |
1A41:1D | SubIndex 029 | 29. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x33 (DMC__Actual drive time)) | UINT32 | RO | 0x6040:33, 32 |
1A41:1E | SubIndex 030 | 30. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x34 (DMC__Actual position lag)) | UINT32 | RO | 0x6040:34, 32 |
1A41:1F | SubIndex 031 | 31. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1A41:20 | SubIndex 032 | 32. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x35 (DMC__Actual velocity)) | UINT32 | RO | 0x6040:35, 16 |
1A41:21 | SubIndex 033 | 33. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x36 (DMC__Actual position)) | UINT32 | RO | 0x6040:36, 32 |
1A41:22 | SubIndex 034 | 34. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1A41:23 | SubIndex 035 | 35. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x37 (DMC__Error id)) | UINT32 | RO | 0x6040:37, 32 |
1A41:24 | SubIndex 036 | 36. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x38 (DMC__Input cycle counter)) | UINT32 | RO | 0x6040:38, 8 |
1A41:25 | SubIndex 037 | 37. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x39 (DMC__Channel id)) | UINT32 | RO | 0x6040:39, 8 |
1A41:26 | SubIndex 038 | 38. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3A (DMC__Latch value)) | UINT32 | RO | 0x6040:3A, 32 |
1A41:27 | SubIndex 039 | 39. PDO Mapping entry (32 bits align) | UINT32 | RO | 0x0000:00, 32 |
1A41:28 | SubIndex 040 | 40. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3B (DMC__Cyclic info data 1)) | UINT32 | RO | 0x6040:3B, 16 |
1A41:29 | SubIndex 041 | 41. PDO Mapping entry (object 0x6040 (DMC Inputs), entry 0x3C (DMC__Cyclic info data 2)) | UINT32 | RO | 0x6040:3C, 16 |
1A41:2A | 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 | 0x1606 (5638dec) |
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 | 0x1A06 (6662dec) |
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) |
1C13:0D | Subindex 013 | 13. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x0000 (0dec) |
1C13:0E | Subindex 014 | 14. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x0000 (0dec) |
1C13:0F | Subindex 015 | 15. allocated TxPDO (contains the index of the associated TxPDO mapping object) | UINT16 | RW | 0x0000 (0dec) |
1C13:10 | Subindex 016 | 16. 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: 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 Synchron with SM 2 Event: Master cycle time DC mode: SYNC0/SYNC1 Cycle Time | UINT32 | RW | 0x00000000 (0dec) |
1C32:03 | Shift time | Time between SYNC0 event and output of the outputs (in ns, DC mode only) | UINT32 | RO | 0x00000000 (0dec) |
1C32:04 | Sync modes supported | Supported synchronization modes: Bit 0 = 1: free run is supported Bit 1 = 1: Synchron with SM 2 Event is supported Bit 2-3 = 01: DC mode is supported Bit 4-5 = 10: Output Shift with SYNC1 event (only DC mode) Bit 14 = 1: dynamic times (measurement through writing of Standard objects) | UINT16 | RO | 0x0000 (0dec) |
1C32:05 | Minimum cycle time | Minimum cycle time (in ns) | UINT32 | RO | 0x00000000 (0dec) |
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 Standard objects, Standard objects, Standard objects, Standard objects, Standard objects, Standard objects, Standard objects are updated with the maximum measured values. | 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) |
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C32:0D | Shift too short counter | Number of occasions that the interval between SYNC0 and SYNC1 event was too short (DC mode only) | UINT16 | RO | 0x0000 (0dec) |
1C32:20 | Sync error | The synchronization was not correct in the last cycle (outputs were output too late; DC mode only) | BOOLEAN | RO | 0x00 (0dec) |
Index 1C33 SM input parameter
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
1C33:0 | SM input parameter | Synchronization parameters for the inputs | UINT8 | RO | 0x20 (32dec) |
1C33:01 | Sync mode | Current synchronization mode: 0: Free Run 1: Synchron with SM 3 event (no outputs available) 2: DC - Synchron with SYNC0 Event 3: DC - Synchron with SYNC1 Event 34: Synchron with SM 2 event (outputs available) | UINT16 | RW | 0x0000 (0dec) |
1C33:02 | Cycle time | UINT32 | RW | 0x00000000 (0dec) | |
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: Synchron with SM 2 Event is supported (outputs available) Bit 1: Synchron with SM 3 Event is supported (no outputs available) Bit 2-3 = 01: DC mode is supported Bit 4-5 = 01: Input Shift through local event (outputs available) Bit 4-5 = 10: Input Shift with SYNC1 event (no outputs available) Bit 14 = 1: dynamic times (measurement through writing of Standard objects or Standard objects) | UINT16 | RO | 0x0000 (0dec) |
1C33:05 | Minimum cycle time | UINT32 | RO | 0x00000000 (0dec) | |
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 | 0x00000000 (0dec) |
1C33:08 | Command | UINT16 | RW | 0x0000 (0dec) | |
1C33:09 | Maximum delay time | Time between SYNC1 event and reading of the inputs (in ns, only DC mode) | UINT32 | RO | 0x00000000 (0dec) |
1C33:0B | SM event missed counter | UINT16 | RO | 0x0000 (0dec) | |
1C33:0C | Cycle exceeded counter | UINT16 | RO | 0x0000 (0dec) | |
1C33:0D | Shift too short counter | UINT16 | RO | 0x0000 (0dec) | |
1C33:20 | Sync error | BOOLEAN | RO | 0x00 (0dec) |
Index F000 Modular device profile
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F000:0 | Modular device profile | General information for the Modular Device Profile | UINT8 | RO | 0x02 (2dec) |
F000:01 | Module index distance | Index distance of the objects of the individual channels | UINT16 | RO | 0x0010 (16dec) |
F000:02 | Maximum number of modules | Number of channels | UINT16 | RO | 0x0003 (3dec) |
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 | Module list | UINT8 | RW | 0x03 (3dec) |
F010:01 | SubIndex 001 | Encoder profile number DS402 / MDP 513 | UINT32 | RW | 0x00000201 (513dec) |
F010:02 | SubIndex 002 | Profile number drive DS402 / MDP 742 | UINT32 | RW | 0x000002E6 (742dec) |
F010:03 | SubIndex 003 | Reserved | UINT32 | RW | 0x00000064 (100dec) |
Index F081 Download revision
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F081:0 | Download revision | Download revision | UINT8 | RO | 0x01 (1dec) |
F081:01 | Revision number | Revision number of the terminal Relevant as a startup list entry for compatibility | UINT32 | RW | 0x00000000 (0dec) |
Index F083 BTN
Index (hex) | Name | Meaning | Data type | Flags | Default |
---|---|---|---|---|---|
F083:0 | BTN | Beckhoff Traceability Number | STRING | RO |
|