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
(object 0x6040 (DMC Inputs), entry 0x1D (DMC__DriveStatus__Digital input 2))

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.
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)

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

as Standard objects 

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

as Standard objects 

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

as Standard objects

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

as Standard objects 

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as Standard objects 

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as Standard objects 

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as Standard objects 

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