Encoder with digital inputs/outputs, ENC (0x582199)
Overview 0x16n0 and 0x1An0 for encoders with digital inputs/outputs (SlotGroup 1)
Index (hex) | Index name for ModuleGroups (ModuleIdent): | ||
|---|---|---|---|
ENC_DI_DO | ENC_2xDI | ENC_2xDO | |
1600:0 | ENC RxPDO‑Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1 | ENC RxPDO‑Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1 | ENC |
1610:0 | - | - | DOS RxPDO‑Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1 |
1620:0 | DOS RxPDO‑Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1 | - | DOS RxPDO‑Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 2 |
1A00:0 | ENC TxPDO‑Map SlotGroup 1 (Slot 1, 2, 3, 4) Inputs 1 | ENC TxPDO‑Map SlotGroup 1 | ENC TxPDO‑Map SlotGroup 1 |
1A10:0 | DIP TxPDO‑Map SlotGroup 1 | DIP TxPDO‑Map SlotGroup 1 | - |
1A20:0 | - | DIP TxPDO‑Map SlotGroup 1 | - |
Index 1600 ENC RxPDO-Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1
Applies to ModuleGroup: |
ENC_DI_DO (0x582199, 0x82199, 0x402199) |
ENC_2xDI (0x582199, 0x82199, 0x82199) |
ENC_2xDO (0x582199, 0x402199, 0x402199) |
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
1600:0 | ENC | PDO Mapping RxPDO 1 | UINT8 | RO | 0x06 (6dec) |
1600:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1600:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status), entry 0x03 (Set counter)) | UINT32 | RO | 0x7000:03, 1 |
1600:03 | SubIndex 003 | 3. PDO Mapping entry (5 bits align) | UINT32 | RO | 0x0000:00, 5 |
1600:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status), entry 0x09 (Set software gate)) | UINT32 | RO | 0x7000:09, 1 |
1600:05 | SubIndex 005 | 5. PDO Mapping entry (7 bits align) | UINT32 | RO | 0x0000:00, 7 |
1600:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status, entry 0x11 (Set counter value)) | UINT32 | RO | 0x7000:11, 32 |
Index 16n0 DOS RxPDO-Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs %C
Applies to ModuleGroup: | Values for n |
ENC_DI_DO (0x582199, 0x82199, 0x402199) | n = 2 for DO 1 |
ENC_2xDO (0x582199, 0x402199, 0x402199) | n = 1 for DO 1, n = 2 for DO 2 |
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
16n0:0 | DOS RxPDO-Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs %C | PDO Mapping RxPDO (n+1) | UINT8 | RO | 0x02 (2dec) |
16n0:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x70n0 (SlotGroup 1 (Slot 1, 2, 3, 4) DOS Outputs %C), entry 0x01 (Output)) | UINT32 | RO | 0x70n0:01, 1 |
16n0:02 | SubIndex 002 | 2. PDO Mapping entry (15 bits align) | UINT32 | RO | 0x0000:00, 15 |
Index 1A00 ENC TxPDO-Map SlotGroup 1 (Slot 1, 2, 3, 4) Inputs 1
Applies to ModuleGroup: |
ENC_DI_DO (0x582199, 0x82199, 0x402199) |
ENC_2xDI (0x582199, 0x82199, 0x82199) |
ENC_2xDO (0x582199, 0x402199, 0x402199) |
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
1A00:0 | ENC TxPDO-Map SlotGroup 1 | PDO Mapping TxPDO 1 | UINT8 | RO | 0x0B (11dec) |
1A00:01 | SubIndex 001 | 1. PDO Mapping entry (2 bits align) | UINT32 | RO | 0x0000:00, 2 |
1A00:02 | SubIndex 002 | 2. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x03 (Set counter done)) | UINT32 | RO | 0x6000:03, 1 |
1A00:03 | SubIndex 003 | 3. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x04 (Counter underflow)) | UINT32 | RO | 0x6000:04, 1 |
1A00:04 | SubIndex 004 | 4. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x04 (Counter overflow)) | UINT32 | RO | 0x6000:05, 1 |
1A00:05 | SubIndex 005 | 5. PDO Mapping entry (3 bits align) | UINT32 | RO | 0x0000:00, 3 |
1A00:06 | SubIndex 006 | 6. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x09 (Status of input A)) | UINT32 | RO | 0x6000:09, 1 |
1A00:07 | SubIndex 007 | 7. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x0A (Status of input B)) | UINT32 | RO | 0x6000:0A, 1 |
1A00:08 | SubIndex 008 | 8. PDO Mapping entry (6 bits align) | UINT32 | RO | 0x0000:00, 6 |
1A00:09 | SubIndex 009 | 9. PDO Mapping entry (object 0x6002 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status 1), entry 0x11 (Software gate valid)) | UINT32 | RO | 0x6002:11, 1 |
1A00:0A | SubIndex 010 | 10. PDO Mapping entry (15 bits align) | UINT32 | RO | 0x0000:00, 15 |
1A00:0B | SubIndex 011 | 11. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x11 (Counter value)) | UINT32 | RO | 0x6000:11, 32 |
Index 1An0 DIP TxPDO-Map SlotGroup 1 (Slot 1, 2, 3, 4) Inputs %C
Applies to ModuleGroup: | Values for n |
ENC_DI_DO (0x582199, 0x82199, 0x402199) | n = 1 for DI 1 |
ENC_2xDI (0x582199, 0x82199, 0x82199) | n = 1 for DI 1, n = 2 for DI 2 |
Index (hex) | Name | Meaning | Data type | Flags | Default |
|---|---|---|---|---|---|
1An0:0 | DIP TxPDO-Map | PDO Mapping TxPDO (n+1) | UINT8 | RO | 0x02 (2dec) |
1An0:01 | SubIndex 001 | 1. PDO Mapping entry (object 0x60n0 (SlotGroup 1 (Slot 1, 2, 3, 4) DIP Inputs %C), entry 0x01 (Input)) | UINT32 | RO | 0x60n0:01, 1 |
1An0:02 | SubIndex 002 | 2. PDO Mapping entry (15 bits align) | UINT32 | RO | 0x0000:00, 15 |