Standard objects

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EL9501
or
EL9561

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

00

100B:0

Bootloader version

Bootloader version

STRING

RO

n/a

1018:0

Identity

Information for identifying the slave

UINT8

RO

0x04 (4_dec)

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

0x00000002 (2_dec)

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

EL9501:
0x251D3052 (622669906_dec)

EL9561:
0x25593052 (626602066_dec)

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 (0_dec)

1018:04

Serial number

Serial number of the EtherCAT slave; the low byte (bit 0-7) of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of production, the high word (bit 16-31) is 0

UINT32

RO

0x00000000 (0_dec)

10E2:0

Manufacturer-specific Identification Code

Manufacturer-specific Identification Code

UINT8

RO

0x01 (1_dec)

10E2:01

SubIndex 001

reserved

STRING

RO

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

0x01 (1_dec)

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0_dec)

10F3:0

Diagnosis History

Maximum subindex

UINT8

RO

0x15 (21_dec)

10F3:01

Maximum Messages

Maximum number of stored messages
A maximum of 16 messages can be stored

UINT8

RO

0x00 (0_dec)

10F3:02

Newest Message

Subindex of the latest message

UINT8

RO

0x00 (0_dec)

10F3:03

Newest Acknowledged Message

Subindex of the last confirmed message

UINT8

RW

0x00 (0_dec)

10F3:04

New Messages Available

Indicates that a new message is available

BOOLEAN

RO

0x00 (0_dec)

10F3:05

Flags

not used

UINT16

RW

0x0000 (0_dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET-STRING[24]

RO

{0}

…

…

….

…

…

…

10F3:15

Diagnosis Message 016

Message 16

OCTET-STRING[24]

RO

{0}

10F8:0

Timestamp Object

Timestamp Object [ns]

For SM synchronous operation: Time since power-on

For DC synchronous operation: copy of the DC time

Time can be used by the device e.g. for timestamps of the DiagMessage

UINT64

RO

1400:0

AO Output RxPDO-Par Standard (INT16)

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6_dec)

1400:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 1

OCTET-STRING[6]

RO

01 16 02 16 03 16

1401:0

AO Output RxPDO-Par Compact (INT16)

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6_dec)

1401:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 2

OCTET-STRING[6]

RO

00 16 02 16 03 16

1402:0

AO Output RxPDO-Par Standard (Real32)

PDO Parameter RxPDO 3

UINT8

RO

0x06 (6_dec)

1402:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 3

OCTET-STRING[6]

RO

00 16 01 16 03 16

1403:0

AO Output RxPDO-Par Compact (Real32)

PDO Parameter RxPDO 4

UINT8

RO

0x06 (6dec)

1403:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 4

OCTET-STRING[6]

RO

00 16 01 16 02 16

1410:0

AO Complementary Limit High RxPDO-Par Standard (INT16)

PDO Parameter RxPDO 17

UINT8

RO

0x06 (6_dec)

1410:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 17

OCTET-STRING[6]

RO

12 16 00 00 00 00

1412:0

AO Complementary Limit High RxPDO-Par Standard (Real32)

PDO Parameter RxPDO 19

UINT8

RO

0x06 (6_dec)

1412:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 19

OCTET-STRING[6]

RO

10 16 00 00 00 00

1600:0

AO Output RxPDO-Map Standard (INT16)

PDO Mapping RxPDO 1

UINT8

RO

0x03 (3_dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (AO Output Outputs), entry 0x15 (Output Interface))

UINT32

RO

0x7000:15, 16

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (AO Output Outputs), entry 0x16 (Output Operation))

UINT32

RO

0x7000:16, 16

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (AO Output Outputs), entry 0x11 (Value))

UINT32

RO

0x7000:11, 16

1601:0

AO Output RxPDO-Map Compact (INT16)

PDO Mapping RxPDO 2

UINT8

RO

0x01 (1_dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (AO Output Outputs), entry 0x11 (Value))

UINT32

RO

0x7000:11, 16

1602:0

AO Output RxPDO-Map Standard (Real32)

PDO Mapping RxPDO 3

UINT8

RO

0x03 (3_dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (AO Output Outputs), entry 0x15 (Output Interface))

UINT32

RO

0x7000:15, 16

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (AO Output Outputs), entry 0x16 (Output Operation))

UINT32

RO

0x7000:16, 16

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (AO Output Outputs), entry 0x13 (Value (Real32)))

UINT32

RO

0x7000:13, 32

1603:0

AO Output RxPDO-Map Compact (Real32)

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1_dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (AO Output Outputs), entry 0x13 (Value (Real32)))

UINT32

RO

0x7000:13, 32

1604:0

AO Output RxPDO-Map Cycle Counter

PDO Mapping RxPDO 5

UINT8

RO

0x01 (1_dec)

1604:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (AO Output Outputs), entry 0x14 (Output Cycle Counter))

UINT32

RO

0x7000:14, 16

1610:0

AO Complementary Limit High RxPDO-Map Standard (INT16)

PDO Mapping RxPDO 17

UINT8

RO

0x01 (1_dec)

1610:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (AO Complementary Limit High Outputs), entry 0x11 (Value))

UINT32

RO

0x7010:11, 16

1612:0

AO Complementary Limit High RxPDO-Map Standard (Real32)

PDO Mapping RxPDO 19

UINT8

RO

0x01 (1_dec)

1612:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (AO Complementary Limit High Outputs), entry 0x13 (Value (Real32)))

UINT32

RO

0x7010:13, 32

1614:0

AO Complementary Limit High RxPDO-Map Cycle Counter

PDO Mapping RxPDO 21

UINT8

RO

0x01 (1dec)

1614:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (AO Complementary Limit High Outputs), entry 0x14 (Output Cycle Counter))

UINT32

RO

0x7010:14, 16

1830:0

AI Input Voltage TxPDO-Par Standard (INT16)

PDO Parameter TxPDO 49

UINT8

RO

0x06 (6_dec)

1830:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 49

OCTET-STRING[6]

RO

31 1A 32 1A 33 1A

1831:0

AI Input Voltage TxPDO-Par Compact (INT16)

PDO Parameter TxPDO 50

UINT8

RO

0x06 (6dec)

1831:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 50

OCTET-STRING[6]

RO

30 1A 32 1A 33 1A

1832:0

AI Input Voltage TxPDO-Par Standard (Real32)

PDO Parameter TxPDO 51

UINT8

RO

0x06 (6dec)

1832:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 51

OCTET-STRING[6]

RO

30 1A 31 1A 33 1A

1833:0

AI Input Voltage TxPDO-Par Compact (Real32)

PDO Parameter TxPDO 52

UINT8

RO

0x06 (6_dec)

1833:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 52

OCTET-STRING[6]

RO

30 1A 31 1A 32 1A

1850:0

AI Output Voltage TxPDO-Par Standard (INT16)

PDO Parameter TxPDO 81

UINT8

RO

0x06 (6_dec)

1850:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 81

OCTET-STRING[6]

RO

51 1A 52 1A 53 1A

1851:0

AI Output Voltage TxPDO-Par Compact (INT16)

PDO Parameter TxPDO 82

UINT8

RO

0x06 (6_dec)

1851:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 82

OCTET-STRING[6]

RO

50 1A 52 1A 53 1A

1852:0

AI Output Voltage TxPDO-Par Standard (Real32)

PDO Parameter TxPDO 83

UINT8

RO

0x06 (6_dec)

1852:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 83

OCTET-STRING[6]

RO

50 1A 51 1A 53 1A

1853:0

AI Output Voltage TxPDO-Par Compact (Real32)

PDO Parameter TxPDO 84

UINT8

RO

0x06 (6_dec)

1853:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 84

OCTET-STRING[6]

RO

50 1A 51 1A 52 1A

1860:0

AI Output Current TxPDO-Par Standard (INT16)

PDO Parameter TxPDO 97

UINT8

RO

0x06 (6_dec)

1860:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 97

OCTET-STRING[6]

RO

61 1A 62 1A 63 1A

1861:0

AI Output Current TxPDO-Par Compact (INT16)

PDO Parameter TxPDO 98

UINT8

RO

0x06 (6_dec)

1861:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 98

OCTET-STRING[6]

RO

60 1A 62 1A 63 1A

1862:0

AI Output Current TxPDO-Par Standard (Real32)

PDO Parameter TxPDO 99

UINT8

RO

0x06 (6dec)

1862:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 99

OCTET-STRING[6]

RO

60 1A 61 1A 63 1A

1863:0

AI Output Current TxPDO-Par Compact (Real32)

PDO Parameter TxPDO 100

UINT8

RO

0x06 (6dec)

1863:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 100

OCTET-STRING[6]

RO

60 1A 61 1A 62 1A

1A00:0

AO Output TxPDO-Map Status

PDO Mapping TxPDO 1

UINT8

RO

0x08 (8_dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (AO Output Inputs), entry 0x02 (Output Overload))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (AO Output Inputs), entry 0x03 (Underrange))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (AO Output Inputs), entry 0x04 (Overrange))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (AO Output Inputs), entry 0x06 (Warning))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (AO Output Inputs), entry 0x07 (Error))

UINT32

RO

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

1A10:0

AO Complementary Limit High TxPDO-Map Status

PDO Mapping TxPDO 17

UINT8

RO

0x07 (7_dec)

1A10:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A10:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (AO Complementary Limit High Inputs), entry 0x03 (Underrange))

UINT32

RO

0x6010:03, 1

1A10:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (AO Complementary Limit High Inputs), entry 0x04 (Overrange))

UINT32

RO

0x6010:04, 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 0x6010 (AO Complementary Limit High Inputs), entry 0x06 (Warning))

UINT32

RO

0x6010:06, 1

1A10:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (AO Complementary Limit High Inputs), entry 0x07 (Error))

UINT32

RO

0x6010:07, 1

1A10:07

SubIndex 007

7. PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

1A30:0

AI Input Voltage TxPDO-Map Standard (INT16)

PDO Mapping TxPDO 49

UINT8

RO

0x0B (11_dec)

1A30:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x01 (Underrange))

UINT32

RO

0x6030:01, 1

1A30:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x02 (Overrange))

UINT32

RO

0x6030:02, 1

1A30:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x6030:03, 2

1A30:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x6030:05, 2

1A30:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x07 (Error))

UINT32

RO

0x6030:07, 1

1A30:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A30:07

SubIndex 007

7. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x0C (Tare Active))

UINT32

RO

0x6030:0C, 1

1A30:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A30:09

SubIndex 009

9. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6030:0F, 1

1A30:0A

SubIndex 010

10. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6030:10, 1

1A30:0B

SubIndex 011

11. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x11 (Value))

UINT32

RO

0x6030:11, 16

1A31:0

AI Input Voltage TxPDO-Map Compact (INT16)

PDO Mapping TxPDO 50

UINT8

RO

0x01 (1_dec)

1A31:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x11 (Value))

UINT32

RO

0x6030:11, 16

1A32:0

AI Input Voltage TxPDO-Map Standard (Real32)

PDO Mapping TxPDO 51

UINT8

RO

0x0B (11_dec)

1A32:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x01 (Underrange))

UINT32

RO

0x6030:01, 1

1A32:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x02 (Overrange))

UINT32

RO

0x6030:02, 1

1A32:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x6030:03, 2

1A32:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x6030:05, 2

1A32:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x07 (Error))

UINT32

RO

0x6030:07, 1

1A32:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A32:07

SubIndex 007

7. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x0C (Tare Active))

UINT32

RO

0x6030:0C, 1

1A32:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A32:09

SubIndex 009

9. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6030:0F, 1

1A32:0A

SubIndex 010

10. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6030:10, 1

1A32:0B

SubIndex 011

11. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x13 (Value (Real32)))

UINT32

RO

0x6030:13, 32

1A33:0

AI Input Voltage TxPDO-Map Compact (Real32)

PDO Mapping TxPDO 52

UINT8

RO

0x01 (1_dec)

1A33:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x13 (Value (Real32)))

UINT32

RO

0x6030:13, 32

1A34:0

AI Input Voltage TxPDO-Map Cycle Counter

PDO Mapping TxPDO 53

UINT8

RO

0x01 (1_dec)

1A34:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (AI Input Voltage Inputs), entry 0x14 (Input Cycle Counter))

UINT32

RO

0x6030:14, 16

1A50:0

AI Output Voltage TxPDO-Map Standard (INT16)

PDO Mapping TxPDO 81

UINT8

RO

0x0B (11_dec)

1A50:01

SubIndex 001

1. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x01 (Underrange))

UINT32

RO

0x6050:01, 1

1A50:02

SubIndex 002

2. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x02 (Overrange))

UINT32

RO

0x6050:02, 1

1A50:03

SubIndex 003

3. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x6050:03, 2

1A50:04

SubIndex 004

4. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x6050:05, 2

1A50:05

SubIndex 005

5. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x07 (Error))

UINT32

RO

0x6050:07, 1

1A50:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A50:07

SubIndex 007

7. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x0C (Tare Active))

UINT32

RO

0x6050:0C, 1

1A50:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A50:09

SubIndex 009

9. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6050:0F, 1

1A50:0A

SubIndex 010

10. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6050:10, 1

1A50:0B

SubIndex 011

11. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x11 (Value))

UINT32

RO

0x6050:11, 16

1A51:0

AI Output Voltage TxPDO-Map Compact (INT16)

PDO Mapping TxPDO 82

UINT8

RO

0x01 (1dec)

1A51:01

SubIndex 001

1. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x11 (Value))

UINT32

RO

0x6050:11, 16

1A52:0

AI Output Voltage TxPDO-Map Standard (Real32)

PDO Mapping TxPDO 83

UINT8

RO

0x0B (11_dec)

1A52:01

SubIndex 001

1. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x01 (Underrange))

UINT32

RO

0x6050:01, 1

1A52:02

SubIndex 002

2. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x02 (Overrange))

UINT32

RO

0x6050:02, 1

1A52:03

SubIndex 003

3. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x6050:03, 2

1A52:04

SubIndex 004

4. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x6050:05, 2

1A52:05

SubIndex 005

5. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x07 (Error))

UINT32

RO

0x6050:07, 1

1A52:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A52:07

SubIndex 007

7. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x0C (Tare Active))

UINT32

RO

0x6050:0C, 1

1A52:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A52:09

SubIndex 009

9. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6050:0F, 1

1A52:0A

SubIndex 010

10. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6050:10, 1

1A52:0B

SubIndex 011

11. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x13 (Value (Real32)))

UINT32

RO

0x6050:13, 32

1A53:0

AI Output Voltage TxPDO-Map Compact (Real32)

PDO Mapping TxPDO 84

UINT8

RO

0x01 (1dec)

1A53:01

SubIndex 001

1. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x13 (Value (Real32)))

UINT32

RO

0x6050:13, 32

1A54:0

AI Output Voltage TxPDO-Map Cycle Counter

PDO Mapping TxPDO 85

UINT8

RO

0x01 (1_dec)

1A54:01

SubIndex 001

1. PDO Mapping entry (object 0x6050 (AI Output Voltage Inputs), entry 0x14 (Input Cycle Counter))

UINT32

RO

0x6050:14, 16

1A60:0

AI Output Current TxPDO-Map Standard (INT16)

PDO Mapping TxPDO 97

UINT8

RO

0x0B (11_dec)

1A60:01

SubIndex 001

1. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x01 (Underrange))

UINT32

RO

0x6060:01, 1

1A60:02

SubIndex 002

2. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x02 (Overrange))

UINT32

RO

0x6060:02, 1

1A60:03

SubIndex 003

3. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x6060:03, 2

1A60:04

SubIndex 004

4. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x6060:05, 2

1A60:05

SubIndex 005

5. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x07 (Error))

UINT32

RO

0x6060:07, 1

1A60:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A60:07

SubIndex 007

7. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x0C (Tare Active))

UINT32

RO

0x6060:0C, 1

1A60:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A60:09

SubIndex 009

9. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6060:0F, 1

1A60:0A

SubIndex 010

10. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6060:10, 1

1A60:0B

SubIndex 011

11. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x11 (Value))

UINT32

RO

0x6060:11, 16

1A61:0

AI Output Current TxPDO-Map Compact (INT16)

PDO Mapping TxPDO 98

UINT8

RO

0x01 (1_dec)

1A61:01

SubIndex 001

1. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x11 (Value))

UINT32

RO

0x6060:11, 16

1A62:0

AI Output Current TxPDO-Map Standard (Real32)

PDO Mapping TxPDO 99

UINT8

RO

0x0B (11_dec)

1A62:01

SubIndex 001

1. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x01 (Underrange))

UINT32

RO

0x6060:01, 1

1A62:02

SubIndex 002

2. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x02 (Overrange))

UINT32

RO

0x6060:02, 1

1A62:03

SubIndex 003

3. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x03 (Limit 1))

UINT32

RO

0x6060:03, 2

1A62:04

SubIndex 004

4. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x05 (Limit 2))

UINT32

RO

0x6060:05, 2

1A62:05

SubIndex 005

5. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x07 (Error))

UINT32

RO

0x6060:07, 1

1A62:06

SubIndex 006

6. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1A62:07

SubIndex 007

7. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x0C (Tare Active))

UINT32

RO

0x6060:0C, 1

1A62:08

SubIndex 008

8. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A62:09

SubIndex 009

9. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x0F (TxPDO State))

UINT32

RO

0x6060:0F, 1

1A62:0A

SubIndex 010

10. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6060:10, 1

1A62:0B

SubIndex 011

11. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x13 (Value (Real32)))

UINT32

RO

0x6060:13, 32

1A63:0

AI Output Current TxPDO-Map Compact (Real32)

PDO Mapping TxPDO 100

UINT8

RO

0x01 (1_dec)

1A63:01

SubIndex 001

1. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x13 (Value (Real32)))

UINT32

RO

0x6060:13, 32

1A64:0

AI Output Current TxPDO-Map Cycle Counter

PDO Mapping TxPDO 101

UINT8

RO

0x01 (1_dec)

1A64:01

SubIndex 001

1. PDO Mapping entry (object 0x6060 (AI Output Current Inputs), entry 0x14 (Input Cycle Counter))

UINT32

RO

0x6060:14, 16

1C00:0

Sync manager type

Using the sync managers

UINT8

RO

0x04 (4_dec)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1_dec)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2_dec)

1C00:03

SubIndex 003

Sync-Manager Type Channel 3: Process Data Write (Outputs)

UINT8

RO

0x03 (3_dec)

1C00:04

SubIndex 004

Sync-Manager Type Channel 4: Process Data Read (Inputs)

UINT8

RO

0x04 (4_dec)

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x01 (1_dec)

1C12:01

Subindex 001

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

UINT16

RW

0x1603 (5635_dec)

1C12:02

Subindex 002

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

UINT16

RW

0x0000 (0_dec)

1C12:03

Subindex 003

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

UINT16

RW

0x0000 (0_dec)

1C12:04

Subindex 004

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

UINT16

RW

0x0000 (0_dec)

1C12:05

Subindex 005

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

UINT16

RW

0x0000 (0_dec)

1C12:06

Subindex 006

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

UINT16

RW

0x0000 (0_dec)

1C12:07

Subindex 007

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

UINT16

RW

0x0000 (0_dec)

1C12:08

Subindex 008

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

UINT16

RW

0x0000 (0_dec)

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x03 (3_dec)

1C13:01

Subindex 001

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

UINT16

RW

0x1A00 (6656_dec)

1C13:02

Subindex 002

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

UINT16

RW

0x1A52 (6738_dec)

1C13:03

Subindex 003

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

UINT16

RW

0x1A62 (6754_dec)

1C13:04

Subindex 004

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

UINT16

RW

0x0000 (0_dec)

1C13:05

Subindex 005

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

UINT16

RW

0x0000 (0_dec)

1C13:06

Subindex 006

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

UINT16

RW

0x0000 (0_dec)

1C13:07

Subindex 007

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

UINT16

RW

0x0000 (0_dec)

1C13:08

Subindex 008

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

UINT16

RW

0x0000 (0_dec)

1C13:09

Subindex 009

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

UINT16

RW

0x0000 (0_dec)

1C13:0A

Subindex 010

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

UINT16

RW

0x0000 (0_dec)

1C13:0B

Subindex 011

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

UINT16

RW

0x0000 (0_dec)

1C13:0C

Subindex 012

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

UINT16

RW

0x0000 (0_dec)

1C13:0D

Subindex 013

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

UINT16

RW

0x0000 (0_dec)

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

0x20 (32_dec)

1C32:01

Sync mode

Current sync 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 (0_dec)

1C32:02

Cycle time

Cycle time (in ns):

• Free Run: cycle time of the local timer
• Synchron with SM 2 Event: cycle time of the master
• DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32

RW

0x000F4240 (1000000_dec)

1C32:03

Shift time

Time between SYNC0 event and output of the outputs (in ns, DC Mode only)

UINT32

RO

0x00000000 (0_dec)

1C32:04

Sync modes supported

Sync modes supported:

• 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 (DC Mode only)
• Bit 14 = 1: dynamic times (measurement through writing of 1C32:08)

UINT16

RO

0x0001 (1_dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000F4240 (1000000_dec)

1C32:06

Calc and copy time

Minimum time between SYNC0 and SYNC1 event (in ns, DC Mode only)

UINT32

RO

0x00000000 (0_dec)

1C32:07

Minimum delay time

UINT32

RO

0x00000000 (0_dec)

1C32:08

Get Cycle Time

• 0: Measurement of the local cycle time is stopped
• 1: Measurement of the local cycle time is started

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0_dec)

1C32:09

Maximum delay time

Time between SYNC1 event and output of the outputs (in ns, DC mode only)

UINT32

RO

0x00000000 (0_dec)

1C32:0B

SM event missed counter

Number of missed SM events in OPERATIONAL (DC Mode only)

UINT16

RO

0x0000 (0_dec)

1C32:0C

Cycle exceeded counter

Number of occasions the cycle time was exceeded in OPERATIONAL (cycle was not completed in time or the next cycle began too early)

UINT16

RO

0x0000 (0_dec)

1C32:0D

Shift too short counter

Number of intervals between SYNC0 and SYNC1 events that are too short (DC Mode only)

UINT16

RO

0x0000 (0_dec)

1C32:20

Sync error

The synchronization was not correct in the last cycle (outputs were output too late, DC Mode only)

BOOLEAN

RO

0x00 (0_dec)

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

0x20 (32_dec)

1C33:01

Sync mode

Current sync 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 (0_dec)

1C33:02

Cycle time

• as 1C32:02

UINT32

RW

0x000F4240 (1000000_dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0_dec)

1C33:04

Sync modes supported

Sync modes supported:

• 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 1C32:08 or 1C33:08)

UINT16

RO

0x0001 (1_dec)

1C33:05

Minimum cycle time

as 1C32:05

UINT32

RO

0x000F4240 (1000000_dec)

1C33:06

Calc and copy time

Time between reading of the inputs and the inputs being available for the master (in ns, DC Mode only)

UINT32

RO

0x00000000 (0_dec)

1C33:07

Minimum delay time

UINT32

RO

0x00000000 (0_dec)

1C33:08

Get Cycle Time

as 1C32:08

UINT16

RW

0x0000 (0_dec)

1C33:09

Maximum delay time

Time between SYNC1 event and reading of the inputs (in ns, DC Mode only)

UINT32

RO

0x00000000 (0_dec)

1C33:0B

SM event missed counter

as 1C32:11

UINT16

RO

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

as 1C32:12

UINT16

RO

0x0000 (0_dec)

1C33:0D

Shift too short counter

as 1C32:13

UINT16

RO

0x0000 (0_dec)

1C33:20

Sync error

as 1C32:32

BOOLEAN

RO

0x00 (0_dec)

F008:0

Code word

Code word (currently reserved)

UINT32

RW

0x00000000 (0_dec)

F009:0

Password protection

Password protection user calibration

UINT32

RW

0x00000000 (0_dec)