Standard objects

Index 1000 Device type

Index (hex)	Name	Meaning	Data type	Flags	Default
1000:0	Device type	Device type of the EtherCAT slave: the Lo-Word contains the used CoE profile (5001). The Hi-Word contains the module profile according to the modular device profile.	UINT32	RO	0x00001389 (5001_dec)

Index 1008 Device name

Index (hex)	Name	Meaning	Data type	Flags	Default
1008:0	Device name	Device name of the EtherCAT slave	STRING	RO	¹⁾

¹⁾ The default value corresponds to the product name, e.g.

"ELM7211-0010"
"ELM7211-9016"
"ELM7222-9018"
…

Index 1009 Hardware version

Index (hex)	Name	Meaning	Data type	Flags	Default
1009:0	Hardware version	Hardware version of the EtherCAT slave	STRING	RO

Index 100A Software version

Index (hex)	Name	Meaning	Data type	Flags	Default
100A:0	Software version	Firmware version of the EtherCAT slave	STRING	RO	01

Index 100B Bootloader version

Index (hex)	Name	Meaning	Data type	Flags	Default
B100:0	Bootloader version		STRING	RO	N/A

Index 1011 Restore default parameters

Index (hex)	Name	Meaning	Data type	Flags	Default
1011:0	Restore default parameters	Restore default settings	UINT8	RO	0x01 (1_dec)
1011:01	SubIndex 001	If this object is set to "0x64616F6C" in the set value dialog, all backup objects are reset to their delivery state.	UINT32	RW	0x00000000 (0_dec)

Index 1018 Identity

Index (hex)	Name	Meaning	Data type	Flags	Default
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	¹⁾
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)

¹⁾ The default value of "Product code" varies depending on the product:

ELM7211-xxxx: 0x502274B9 (1344435385_dec)
ELM7212-xxxx: 0x502274C9 (1344435401_dec)
ELM7221-xxxx: 0x50227559 (1344435545_dec)
ELM7222-xxxx: 0x50227569 (1344435561_dec)
ELM7231-xxxx: 0x502275F9 (1344435705_dec)

Index 10E2 Manufacturer-specific Identification Code

Index (hex)	Name	Meaning	Data type	Flags	Default
10E2:0	Manufacturer-specific Identification Code		UINT8	RO	0x01 (1_dec)
10E2:01	SubIndex 001		STRING	RO

Index 10F0 Backup parameter handling

Index (hex)	Name	Meaning	Data type	Flags	Default
10F00:01	Checksum	Checksum across all backup entries of the EtherCAT slave	UINT32	RO	0x00000000 (0_dec)

Index 10F8 Timestamp Object

Index (hex)	Name	Meaning	Data type	Flags	Default
10F8:0	Timestamp Object		UINT64	RO

Index 1420 DMC RxPDO-Par Outputs Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1420:0	DMC RxPDO-Par Outputs Ch.1	PDO Parameter RxPDO 33	UINT8	RO	0x06 (6_dec)
1420:06	Exclude RxPDOs	Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 33	OCTET-STRING[2]	RO	21 16

Index 1421 DMC RxPDO-Par Outputs 32 Bit Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1421:0	DMC RxPDO-Par Outputs 32 Bit Ch.1	PDO Parameter RxPDO 34	UINT8	RO	0x06 (6_dec)
1421:06	Exclude RxPDOs	Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 34	OCTET-STRING[2]	RO	20 16

Index 1460 DMC RxPDO-Par Outputs Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1460:0	DMC RxPDO-Par Outputs Ch.2	PDO Parameter RxPDO 97	UINT8	RO	0x06 (6_dec)
1460:06	Exclude RxPDOs	Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 97	OCTET-STRING[2]	RO	61 16

Index 1461 DMC RxPDO-Par Outputs 32 Bit Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1461:0	DMC RxPDO-Par Outputs 32 Bit Ch.2	PDO Parameter RxPDO 98	UINT8	RO	0x06 (6_dec)
1461:06	Exclude RxPDOs	Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 98	OCTET-STRING[2]	RO	60 16

Index 1600 FB RxPDO-Map Touch probe control Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1600:0	FB RxPDO-Map Touch probe control Ch.1	PDO Mapping RxPDO 1	UINT8	RO	0x0C (12_dec)
1600:01	SubIndex 001	1. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x01 (TP1 Enable))	UINT32	RO	0x7001:01, 1
1600:02	SubIndex 002	2. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x02 (TP1 Continous))	UINT32	RO	0x7001:02, 1
1600:03	SubIndex 003	3. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x03 (TP1 Trigger mode))	UINT32	RO	0x7001:03, 2
1600:04	SubIndex 004	4. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x05 (TP1 Enable pos edge))	UINT32	RO	0x7001:05, 1
1600:05	SubIndex 005	5. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x06 (TP1 Enable neg edge))	UINT32	RO	0x7001:06, 1
1600:06	SubIndex 006	6. PDO Mapping entry (2 bits align)	UINT32	RO	0x0000:00, 2
1600:07	SubIndex 007	7. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x09 (TP2 Enable))	UINT32	RO	0x7001:09, 1
1600:08	SubIndex 008	8. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x0A (TP2 Continous))	UINT32	RO	0x7001:0A, 1
1600:09	SubIndex 009	9. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x0B (TP2 Trigger mode))	UINT32	RO	0x7001:0B, 2
1600:0A	SubIndex 010	10. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x0D (TP2 Enable pos edge))	UINT32	RO	0x7001:0D, 1
1600:0B	SubIndex 011	11. PDO Mapping entry (object 0x7001 (FB Touch probe outputs Ch.1), entry 0x0E (TP2 Enable neg edge))	UINT32	RO	0x7001:0E, 1
1600:0C	SubIndex 012	12. PDO Mapping entry (2 bits align)	UINT32	RO	0x0000:00, 2

Index 1610 DRV RxPDO-Map Controlword Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1610:0	DRV RxPDO-Map Controlword Ch.1	PDO Mapping RxPDO 17	UINT8	RO	0x01 (1_dec)
1610:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x01 (Controlword))	UINT32	RO	0x7010:01, 16

Index 1611 DRV RxPDO-Map Target position Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1611:0	DRV RxPDO-Map Target position Ch.1	PDO Mapping RxPDO 18	UINT8	RO	0x01 (1_dec)
1611:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x05 (Target position))	UINT32	RO	0x7010:05, 32

Index 1612 DRV RxPDO-Map Target velocity Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1612:0	DRV RxPDO-Map Target velocity Ch.1	PDO Mapping RxPDO 19	UINT8	RO	0x01 (1_dec)
1612:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x06 (Target velocity))	UINT32	RO	0x7010:06, 32

Index 1613 DRV RxPDO-Map Target torque Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1613:0	DRV RxPDO-Map Target torque Ch.1	PDO Mapping RxPDO 20	UINT8	RO	0x01 (1_dec)
1613:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x09 (Target torque))	UINT32	RO	0x7010:09, 16

Index 1614 DRV RxPDO-Map Commutation angle Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1614:0	DRV RxPDO-Map Commutation angle Ch.1	PDO Mapping RxPDO 21	UINT8	RO	0x01 (1_dec)
1614:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x0E (Commutation angle))	UINT32	RO	0x7010:0E, 16

Index 1615 DRV RxPDO-Map Velocity offset Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1615:0	DRV RxPDO-Map Velocity offset Ch.1	PDO Mapping RxPDO 22	UINT8	RO	0x01 (1_dec)
1615:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x0F (Velocity offset))	UINT32	RO	0x7010:0F, 32

Index 1616 DRV RxPDO-Map Torque offset Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1616:0	DRV RxPDO-Map Torque offset Ch.1	PDO Mapping RxPDO 23	UINT8	RO	0x01 (1_dec)
1616:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x0A (Torque offset))	UINT32	RO	0x7010:0A, 16

Index 1617 DRV RxPDO-Map Torque limitation Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1617:0	DRV RxPDO-Map Torque limitation Ch.1	PDO Mapping RxPDO 24	UINT8	RO	0x01 (1_dec)
1617:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x0B (Torque limitation))	UINT32	RO	0x7010:0B, 16

Index 1618 DRV RxPDO-Map Positive torque limit value Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1618:0	DRV RxPDO-Map Positive torque limit value Ch.1	PDO Mapping RxPDO 25	UINT8	RO	0x01 (1_dec)
1618:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x10 (Positive torque limit value))	UINT32	RO	0x7010:10, 16

Index 1619 DRV RxPDO-Map Negative torque limit value Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1619:0	DRV RxPDO-Map Negative torque limit value Ch.1	PDO Mapping RxPDO 26	UINT8	RO	0x01 (1_dec)
1619:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x11 (Negative torque limit value))	UINT32	RO	0x7010:11, 16

Index 161A DRV RxPDO-Map Modes of operation Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
161A:0	DRV RxPDO-Map Modes of operation Ch.1	PDO Mapping RxPDO 27	UINT8	RO	0x01 (1_dec)
161A:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x03 (Modes of operation))	UINT32	RO	0x7010:03, 8

Index 161B DRV RxPDO-Map Low velocity limit value Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
B161:0	DRV RxPDO-Map Low velocity limit value Ch.1	PDO Mapping RxPDO 28	UINT8	RO	0x01 (1_dec)
161B:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x12 (Low velocity limit value))	UINT32	RO	0x7010:12, 32

Index 161C DRV RxPDO-Map High velocity limit value Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
161C:0	DRV RxPDO-Map High velocity limit value Ch.1	PDO Mapping RxPDO 29	UINT8	RO	0x01 (1_dec)
161C:01	SubIndex 001	1. PDO Mapping entry (object 0x7010 (DRV Outputs Ch.1), entry 0x13 (High velocity limit value))	UINT32	RO	0x7010:13, 32

Index 1620 DMC RxPDO-Map Outputs Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1620:0	DMC RxPDO-Map Outputs Ch.1	PDO Mapping RxPDO 33	UINT8	RO	0x12 (18_dec)
1620:01	SubIndex 001	1. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1620:02	SubIndex 002	2. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge))	UINT32	RO	0x7020:02, 1
1620:03	SubIndex 003	3. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x03 (DMC__FeedbackControl__Set counter))	UINT32	RO	0x7020:03, 1
1620:04	SubIndex 004	4. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))	UINT32	RO	0x7020:04, 1
1620:05	SubIndex 005	5. PDO Mapping entry (12 bits align)	UINT32	RO	0x0000:00, 12
1620:06	SubIndex 006	6. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x11 (DMC__DriveControl__Enable))	UINT32	RO	0x7020:11, 1
1620:07	SubIndex 007	7. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x12 (DMC__DriveControl__Reset))	UINT32	RO	0x7020:12, 1
1620:08	SubIndex 008	8. PDO Mapping entry (14 bits align)	UINT32	RO	0x0000:00, 14
1620:09	SubIndex 009	9. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x21 (DMC__PositioningControl__Execute))	UINT32	RO	0x7020:21, 1
1620:0A	SubIndex 010	10. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x22 (DMC__PositioningControl__Emergency stop))	UINT32	RO	0x7020:22, 1
1620:0B	SubIndex 011	11. PDO Mapping entry (14 bits align)	UINT32	RO	0x0000:00, 14
1620:0C	SubIndex 012	12. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x31 (DMC__Set counter value))	UINT32	RO	0x7020:31, 64
1620:0D	SubIndex 013	13. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x32 (DMC__Target position))	UINT32	RO	0x7020:32, 64
1620:0E	SubIndex 014	14. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x33 (DMC__Target velocity))	UINT32	RO	0x7020:33, 16
1620:0F	SubIndex 015	15. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x34 (DMC__Start type))	UINT32	RO	0x7020:34, 16
1620:10	SubIndex 016	16. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x35 (DMC__Target acceleration))	UINT32	RO	0x7020:35, 16
1620:11	SubIndex 017	17. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x36 (DMC__Target deceleration))	UINT32	RO	0x7020:36, 16
1620:12	SubIndex 018	18. PDO Mapping entry (80 bits align)	UINT32	RO	0x0000:00, 80

Index 1621 DMC RxPDO-Map Outputs 32 Bit Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1621:0	DMC RxPDO-Map Outputs 32 Bit Ch.1	PDO Mapping RxPDO 34	UINT8	RO	0x14 (20_dec)
1621:01	SubIndex 001	1. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1621:02	SubIndex 002	2. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge))	UINT32	RO	0x7020:02, 1
1621:03	SubIndex 003	3. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x03 (DMC__FeedbackControl__Set counter))	UINT32	RO	0x7020:03, 1
1621:04	SubIndex 004	4. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))	UINT32	RO	0x7020:04, 1
1621:05	SubIndex 005	5. PDO Mapping entry (12 bits align)	UINT32	RO	0x0000:00, 12
1621:06	SubIndex 006	6. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x11 (DMC__DriveControl__Enable))	UINT32	RO	0x7020:11, 1
1621:07	SubIndex 007	7. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x12 (DMC__DriveControl__Reset))	UINT32	RO	0x7020:12, 1
1621:08	SubIndex 008	8. PDO Mapping entry (14 bits align)	UINT32	RO	0x0000:00, 14
1621:09	SubIndex 009	9. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x21 (DMC__PositioningControl__Execute))	UINT32	RO	0x7020:21, 1
1621:0A	SubIndex 010	10. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x22 (DMC__PositioningControl__Emergency stop))	UINT32	RO	0x7020:22, 1
1621:0B	SubIndex 011	11. PDO Mapping entry (14 bits align)	UINT32	RO	0x0000:00, 14
1621:0C	SubIndex 012	12. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x31 (DMC__Set counter value))	UINT32	RO	0x7020:31, 32
1621:0D	SubIndex 013	13. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1621:0E	SubIndex 014	14. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x32 (DMC__Target position))	UINT32	RO	0x7020:32, 32
1621:0F	SubIndex 015	15. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1621:10	SubIndex 016	16. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x33 (DMC__Target velocity))	UINT32	RO	0x7020:33, 16
1621:11	SubIndex 017	17. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x34 (DMC__Start type))	UINT32	RO	0x7020:34, 16
1621:12	SubIndex 018	18. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x35 (DMC__Target acceleration))	UINT32	RO	0x7020:35, 16
1621:13	SubIndex 019	19. PDO Mapping entry (object 0x7020 (DMC Outputs Ch.1), entry 0x36 (DMC__Target deceleration))	UINT32	RO	0x7020:36, 16
1621:14	SubIndex 020	20. PDO Mapping entry (80 bits align)	UINT32	RO	0x0000:00, 80

Index 1640 FB RxPDO-Map Touch probe control Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1640:0	FB RxPDO-Map Touch probe control Ch.2	PDO Mapping RxPDO 65	UINT8	RO	0x0C (12_dec)
1640:01	SubIndex 001	1. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x01 (TP1 Enable))	UINT32	RO	0x7101:01, 1
1640:02	SubIndex 002	2. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x02 (TP1 Continous))	UINT32	RO	0x7101:02, 1
1640:03	SubIndex 003	3. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x03 (TP1 Trigger mode))	UINT32	RO	0x7101:03, 2
1640:04	SubIndex 004	4. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x05 (TP1 Enable pos edge))	UINT32	RO	0x7101:05, 1
1640:05	SubIndex 005	5. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x06 (TP1 Enable neg edge))	UINT32	RO	0x7101:06, 1
1640:06	SubIndex 006	6. PDO Mapping entry (2 bits align)	UINT32	RO	0x0000:00, 2
1640:07	SubIndex 007	7. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x09 (TP2 Enable))	UINT32	RO	0x7101:09, 1
1640:08	SubIndex 008	8. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x0A (TP2 Continous))	UINT32	RO	0x7101:0A, 1
1640:09	SubIndex 009	9. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x0B (TP2 Trigger mode))	UINT32	RO	0x7101:0B, 2
1640:0A	SubIndex 010	10. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x0D (TP2 Enable pos edge))	UINT32	RO	0x7101:0D, 1
1640:0B	SubIndex 011	11. PDO Mapping entry (object 0x7101 (FB Touch probe outputs Ch.2), entry 0x0E (TP2 Enable neg edge))	UINT32	RO	0x7101:0E, 1
1640:0C	SubIndex 012	12. PDO Mapping entry (2 bits align)	UINT32	RO	0x0000:00, 2

Index 1650 DRV RxPDO-Map Controlword Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1650:0	DRV RxPDO-Map Controlword Ch.2	PDO Mapping RxPDO 81	UINT8	RO	0x01 (1_dec)
1650:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x01 (Controlword))	UINT32	RO	0x7110:01, 16

Index 1651 DRV RxPDO-Map Target position Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1651:0	DRV RxPDO-Map Target position Ch.2	PDO Mapping RxPDO 82	UINT8	RO	0x01 (1_dec)
1651:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x05 (Target position))	UINT32	RO	0x7110:05, 32

Index 1652 DRV RxPDO-Map Target velocity Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1652:0	DRV RxPDO-Map Target velocity Ch.2	PDO Mapping RxPDO 83	UINT8	RO	0x01 (1_dec)
1652:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x06 (Target velocity))	UINT32	RO	0x7110:06, 32

Index 1653 DRV RxPDO-Map Target torque Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1653:0	DRV RxPDO-Map Target torque Ch.2	PDO Mapping RxPDO 84	UINT8	RO	0x01 (1_dec)
1653:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x09 (Target torque))	UINT32	RO	0x7110:09, 16

Index 1654 DRV RxPDO-Map Commutation angle Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1654:0	DRV RxPDO-Map Commutation angle Ch.2	PDO Mapping RxPDO 85	UINT8	RO	0x01 (1_dec)
1654:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x0E (Commutation angle))	UINT32	RO	0x7110:0E, 16

Index 1655 DRV RxPDO-Map Velocity offset Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1655:0	DRV RxPDO-Map Velocity offset Ch.2	PDO Mapping RxPDO 86	UINT8	RO	0x01 (1_dec)
1655:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x0F (Velocity offset))	UINT32	RO	0x7110:0F, 32

Index 1656 DRV RxPDO-Map Torque offset Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1656:0	DRV RxPDO-Map Torque offset Ch.2	PDO Mapping RxPDO 87	UINT8	RO	0x01 (1_dec)
1656:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x0A (Torque offset))	UINT32	RO	0x7110:0A, 16

Index 1657 DRV RxPDO-Map Torque limitation Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1657:0	DRV RxPDO-Map Torque limitation Ch.2	PDO Mapping RxPDO 88	UINT8	RO	0x01 (1_dec)
1657:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x0B (Torque limitation))	UINT32	RO	0x7110:0B, 16

Index 1658 DRV RxPDO-Map Positive torque limit value Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1658:0	DRV RxPDO-Map Positive torque limit value Ch.2	PDO Mapping RxPDO 89	UINT8	RO	0x01 (1_dec)
1658:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x10 (Positive torque limit value))	UINT32	RO	0x7110:10, 16

Index 1659 DRV RxPDO-Map Negative torque limit value Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1659:0	DRV RxPDO-Map Negative torque limit value Ch.2	PDO Mapping RxPDO 90	UINT8	RO	0x01 (1_dec)
1659:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x11 (Negative torque limit value))	UINT32	RO	0x7110:11, 16

Index 165A DRV RxPDO-Map Modes of operation Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
165A:0	DRV RxPDO-Map Modes of operation Ch.2	PDO Mapping RxPDO 91	UINT8	RO	0x01 (1_dec)
165A:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x03 (Modes of operation))	UINT32	RO	0x7110:03, 8

Index 165B DRV RxPDO-Map Low velocity limit value Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
B165:0	DRV RxPDO-Map Low velocity limit value Ch.2	PDO Mapping RxPDO 92	UINT8	RO	0x01 (1_dec)
165B:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x12 (Low velocity limit value))	UINT32	RO	0x7110:12, 32

Index 165C DRV RxPDO-Map High velocity limit value Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
165C:0	DRV RxPDO-Map High velocity limit value Ch.2	PDO Mapping RxPDO 93	UINT8	RO	0x01 (1_dec)
165C:01	SubIndex 001	1. PDO Mapping entry (object 0x7110 (DRV Outputs Ch.2), entry 0x13 (High velocity limit value))	UINT32	RO	0x7110:13, 32

Index 1660 DMC RxPDO-Map Outputs Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1660:0	DMC RxPDO-Map Outputs Ch.2	PDO Mapping RxPDO 97	UINT8	RO	0x12 (18_dec)
1660:01	SubIndex 001	1. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1660:02	SubIndex 002	2. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge))	UINT32	RO	0x7120:02, 1
1660:03	SubIndex 003	3. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x03 (DMC__FeedbackControl__Set counter))	UINT32	RO	0x7120:03, 1
1660:04	SubIndex 004	4. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))	UINT32	RO	0x7120:04, 1
1660:05	SubIndex 005	5. PDO Mapping entry (12 bits align)	UINT32	RO	0x0000:00, 12
1660:06	SubIndex 006	6. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x11 (DMC__DriveControl__Enable))	UINT32	RO	0x7120:11, 1
1660:07	SubIndex 007	7. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x12 (DMC__DriveControl__Reset))	UINT32	RO	0x7120:12, 1
1660:08	SubIndex 008	8. PDO Mapping entry (14 bits align)	UINT32	RO	0x0000:00, 14
1660:09	SubIndex 009	9. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x21 (DMC__PositioningControl__Execute))	UINT32	RO	0x7120:21, 1
1660:0A	SubIndex 010	10. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x22 (DMC__PositioningControl__Emergency stop))	UINT32	RO	0x7120:22, 1
1660:0B	SubIndex 011	11. PDO Mapping entry (14 bits align)	UINT32	RO	0x0000:00, 14
1660:0C	SubIndex 012	12. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x31 (DMC__Set counter value))	UINT32	RO	0x7120:31, 64
1660:0D	SubIndex 013	13. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x32 (DMC__Target position))	UINT32	RO	0x7120:32, 64
1660:0E	SubIndex 014	14. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x33 (DMC__Target velocity))	UINT32	RO	0x7120:33, 16
1660:0F	SubIndex 015	15. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x34 (DMC__Start type))	UINT32	RO	0x7120:34, 16
1660:10	SubIndex 016	16. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x35 (DMC__Target acceleration))	UINT32	RO	0x7120:35, 16
1660:11	SubIndex 017	17. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x36 (DMC__Target deceleration))	UINT32	RO	0x7120:36, 16
1660:12	SubIndex 018	18. PDO Mapping entry (80 bits align)	UINT32	RO	0x0000:00, 80

Index 1661 DMC RxPDO-Map Outputs 32 Bit Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1661:0	DMC RxPDO-Map Outputs 32 Bit Ch.2	PDO Mapping RxPDO 98	UINT8	RO	0x14 (20_dec)
1661:01	SubIndex 001	1. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1661:02	SubIndex 002	2. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x02 (DMC__FeedbackControl__Enable latch extern on positive edge))	UINT32	RO	0x7120:02, 1
1661:03	SubIndex 003	3. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x03 (DMC__FeedbackControl__Set counter))	UINT32	RO	0x7120:03, 1
1661:04	SubIndex 004	4. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x04 (DMC__FeedbackControl__Enable latch extern on negative edge))	UINT32	RO	0x7120:04, 1
1661:05	SubIndex 005	5. PDO Mapping entry (12 bits align)	UINT32	RO	0x0000:00, 12
1661:06	SubIndex 006	6. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x11 (DMC__DriveControl__Enable))	UINT32	RO	0x7120:11, 1
1661:07	SubIndex 007	7. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x12 (DMC__DriveControl__Reset))	UINT32	RO	0x7120:12, 1
1661:08	SubIndex 008	8. PDO Mapping entry (14 bits align)	UINT32	RO	0x0000:00, 14
1661:09	SubIndex 009	9. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x21 (DMC__PositioningControl__Execute))	UINT32	RO	0x7120:21, 1
1661:0A	SubIndex 010	10. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x22 (DMC__PositioningControl__Emergency stop))	UINT32	RO	0x7120:22, 1
1661:0B	SubIndex 011	11. PDO Mapping entry (14 bits align)	UINT32	RO	0x0000:00, 14
1661:0C	SubIndex 012	12. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x31 (DMC__Set counter value))	UINT32	RO	0x7120:31, 32
1661:0D	SubIndex 013	13. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1661:0E	SubIndex 014	14. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x32 (DMC__Target position))	UINT32	RO	0x7120:32, 32
1661:0F	SubIndex 015	15. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1661:10	SubIndex 016	16. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x33 (DMC__Target velocity))	UINT32	RO	0x7120:33, 16
1661:11	SubIndex 017	17. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x34 (DMC__Start type))	UINT32	RO	0x7120:34, 16
1661:12	SubIndex 018	18. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x35 (DMC__Target acceleration))	UINT32	RO	0x7120:35, 16
1661:13	SubIndex 019	19. PDO Mapping entry (object 0x7120 (DMC Outputs Ch.2), entry 0x36 (DMC__Target deceleration))	UINT32	RO	0x7120:36, 16
1661:14	SubIndex 020	20. PDO Mapping entry (80 bits align)	UINT32	RO	0x0000:00, 80

Index 1820 DMC TxPDO-Par Inputs Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1820:0	DMC TxPDO-Par Inputs Ch.1	PDO parameter TxPDO 33	UINT8	RO	0x06 (6_dec)
1820:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 33	OCTET-STRING[2]	RO	21 1A

Index 1821 DMC TxPDO-Par Inputs 32 Bit Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1821:0	DMC TxPDO-Par Inputs 32 Bit Ch.1	PDO parameter TxPDO 34	UINT8	RO	0x06 (6_dec)
1821:06	Exclude TxPDOs	Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 34	OCTET-STRING[2]	RO	20 1A

Index 1860 DMC TxPDO-Par Inputs Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1860:0	DMC TxPDO-Par Inputs Ch.2	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[2]	RO	61 1A

Index 1861 DMC TxPDO-Par Inputs 32 Bit Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1861:0	DMC TxPDO-Par Inputs 32 Bit Ch.2	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[2]	RO	60 1A

Index 1A00 FB TxPDO-Map Position Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A00:0	FB TxPDO-Map Position Ch.1	PDO Mapping TxPDO 1	UINT8	RO	0x01 (1_dec)
1A00:01	SubIndex 001	1. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x11 (Position))	UINT32	RO	0x6000:11, 32

Index 1A02 FB TxPDO-Map Status Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A02:0	FB TxPDO-Map Status Ch.1	PDO Mapping TxPDO 3	UINT8	RO	0x03 (3_dec)
1A02:01	SubIndex 001	1. PDO Mapping entry (13 bits align)	UINT32	RO	0x0000:00, 13
1A02:02	SubIndex 002	2. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0E (TxPDO State))	UINT32	RO	0x6000:0E, 1
1A02:03	SubIndex 003	3. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), entry 0x0F (Input cycle counter))	UINT32	RO	0x6000:0F, 2

Index 1A03 FB TxPDO-Map Touch probe status Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A03:0	FB TxPDO-Map Touch probe status Ch.1	PDO Mapping TxPDO 4	UINT8	RO	0x0A (10_dec)
1A03:01	SubIndex 001	1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x01 (TP1 Enable))	UINT32	RO	0x6001:01, 1
1A03:02	SubIndex 002	2. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x02 (TP1 Pos value stored))	UINT32	RO	0x6001:02, 1
1A03:03	SubIndex 003	3. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x03 (TP1 Neg value stored))	UINT32	RO	0x6001:03, 1
1A03:04	SubIndex 004	4. PDO Mapping entry (4 bits align)	UINT32	RO	0x0000:00, 4
1A03:05	SubIndex 005	5. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x08 (TP1 Input))	UINT32	RO	0x6001:08, 1
1A03:06	SubIndex 006	6. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x09 (TP2 Enable))	UINT32	RO	0x6001:09, 1
1A03:07	SubIndex 007	7. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x0A (TP2 Pos value stored))	UINT32	RO	0x6001:0A, 1
1A03:08	SubIndex 008	8. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x0B (TP2 Neg value stored))	UINT32	RO	0x6001:0B, 1
1A03:09	SubIndex 009	9. PDO Mapping entry (4 bits align)	UINT32	RO	0x0000:00, 4
1A03:0A	SubIndex 010	10. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x10 (TP2 Input))	UINT32	RO	0x6001:10, 1

Index 1A04 FB TxPDO-Map Touch probe 1 pos position Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A04:0	FB TxPDO-Map Touch probe 1 pos position Ch.1	PDO Mapping TxPDO 5	UINT8	RO	0x01 (1_dec)
1A04:01	SubIndex 001	1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x11 (TP1 Pos position))	UINT32	RO	0x6001:11, 32

Index 1A05 FB TxPDO-Map Touch probe 1 neg position Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A05:0	FB TxPDO-Map Touch probe 1 neg position Ch.1	PDO Mapping TxPDO 6	UINT8	RO	0x01 (1_dec)
1A05:01	SubIndex 001	1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x12 (TP1 Neg position))	UINT32	RO	0x6001:12, 32

Index 1A06 FB TxPDO-Map Touch probe 2 pos position Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A06:0	FB TxPDO-Map Touch probe 2 pos position Ch.1	PDO Mapping TxPDO 7	UINT8	RO	0x01 (1_dec)
1A06:01	SubIndex 001	1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x13 (TP2 Pos position))	UINT32	RO	0x6001:13, 32

Index 1A07 FB TxPDO-Map Touch probe 2 neg position Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A07:0	FB TxPDO-Map Touch probe 2 neg position Ch.1	PDO Mapping TxPDO 8	UINT8	RO	0x01 (1_dec)
1A07:01	SubIndex 001	1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x14 (TP2 Neg position))	UINT32	RO	0x6001:14, 32

Index 1A08 FB TxPDO-Map Touch probe 1 pos timestamp Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A08:0	FB TxPDO-Map Touch probe 1 pos timestamp Ch.1	PDO Mapping TxPDO 9	UINT8	RO	0x01 (1_dec)
1A08:01	SubIndex 001	1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x15 (TP1 Pos timestamp))	UINT32	RO	0x6001:15, 32

Index 1A09 FB TxPDO-Map Touch probe 1 neg timestamp Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A09:0	FB TxPDO-Map Touch probe 1 neg timestamp Ch.1	PDO Mapping TxPDO 10	UINT8	RO	0x01 (1_dec)
1A09:01	SubIndex 001	1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x16 (TP1 Neg timestamp))	UINT32	RO	0x6001:16, 32

Index 1A0A FB TxPDO-Map Touch probe 2 pos timestamp Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A0A:0	FB TxPDO-Map Touch probe 2 pos timestamp Ch.1	PDO Mapping TxPDO 11	UINT8	RO	0x01 (1_dec)
1A0A:01	SubIndex 001	1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x17 (TP2 Pos timestamp))	UINT32	RO	0x6001:17, 32

Index 1A0B FB TxPDO-Map Touch probe 2 neg timestamp Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A0B:0	FB TxPDO-Map Touch probe 2 neg timestamp Ch.1	PDO Mapping TxPDO 12	UINT8	RO	0x01 (1_dec)
1A0B:01	SubIndex 001	1. PDO Mapping entry (object 0x6001 (FB Touch probe inputs Ch.1), entry 0x18 (TP2 Neg timestamp))	UINT32	RO	0x6001:18, 32

Index 1A10 DRV TxPDO-Map Statusword Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A10:0	DRV TxPDO-Map Statusword Ch.1	PDO Mapping TxPDO 17	UINT8	RO	0x01 (1_dec)
1A10:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x01 (Statusword))	UINT32	RO	0x6010:01, 16

Index 1A11 DRV TxPDO-Map Following error actual value Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A11:0	DRV TxPDO-Map Following error actual value Ch.1	PDO Mapping TxPDO 18	UINT8	RO	0x01 (1_dec)
1A11:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x06 (Following error actual value))	UINT32	RO	0x6010:06, 32

Index 1A12 DRV TxPDO-Map Velocity actual value Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A12:0	DRV TxPDO-Map Velocity actual value Ch.1	PDO Mapping TxPDO 19	UINT8	RO	0x01 (1_dec)
1A12:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x07 (Velocity actual value))	UINT32	RO	0x6010:07, 32

Index 1A13 DRV TxPDO-Map Torque actual value Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A13:0	DRV TxPDO-Map Torque actual value Ch.1	PDO Mapping TxPDO 20	UINT8	RO	0x01 (1_dec)
1A13:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x08 (Torque actual value))	UINT32	RO	0x6010:08, 16

Index 1A14 DRV TxPDO-Map Info data 1 Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A14:0	DRV TxPDO-Map Info data 1 Ch.1	PDO Mapping TxPDO 21	UINT8	RW	0x01 (1_dec)
1A14:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x12 (Info data 1))	UINT32	RW	0x6010:12, 16
1A14:02	SubIndex 002	2. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:03	SubIndex 003	3. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:04	SubIndex 004	4. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:05	SubIndex 005	5. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:06	SubIndex 006	6. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:07	SubIndex 007	7. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:08	SubIndex 008	8. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:09	SubIndex 009	9. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:0A	SubIndex 010	10. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:0B	SubIndex 011	11. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:0C	SubIndex 012	12. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:0D	SubIndex 013	13. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:0E	SubIndex 014	14. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:0F	SubIndex 015	15. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A14:10	SubIndex 016	16. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0

Index 1A15 DRV TxPDO-Map Info data 2 Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A15:0	DRV TxPDO-Map Info data 2 Ch.1	PDO Mapping TxPDO 22	UINT8	RW	0x01 (1_dec)
1A15:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x13 (Info data 2))	UINT32	RW	0x6010:13, 16
1A15:02	SubIndex 002	2. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:03	SubIndex 003	3. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:04	SubIndex 004	4. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:05	SubIndex 005	5. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:06	SubIndex 006	6. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:07	SubIndex 007	7. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:08	SubIndex 008	8. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:09	SubIndex 009	9. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:0A	SubIndex 010	10. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:0B	SubIndex 011	11. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:0C	SubIndex 012	12. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:0D	SubIndex 013	13. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:0E	SubIndex 014	14. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:0F	SubIndex 015	15. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A15:10	SubIndex 016	16. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0

Index 1A16 DRV TxPDO-Map Info data 3 Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A16:0	DRV TxPDO-Map Info data 3 Ch.1	PDO Mapping TxPDO 23	UINT8	RW	0x01 (1_dec)
1A16:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x14 (Info data 3))	UINT32	RW	0x6010:14, 16
1A16:02	SubIndex 002	2. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:03	SubIndex 003	3. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:04	SubIndex 004	4. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:05	SubIndex 005	5. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:06	SubIndex 006	6. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:07	SubIndex 007	7. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:08	SubIndex 008	8. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:09	SubIndex 009	9. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:0A	SubIndex 010	10. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:0B	SubIndex 011	11. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:0C	SubIndex 012	12. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:0D	SubIndex 013	13. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:0E	SubIndex 014	14. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:0F	SubIndex 015	15. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A16:10	SubIndex 016	16. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0

Index 1A17 DRV TxPDO-Map Modes of operation display Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A17:0	DRV TxPDO-Map Modes of operation display Ch.1	PDO Mapping TxPDO 24	UINT8	RO	0x01 (1_dec)
1A17:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x03 (Modes of operation display))	UINT32	RO	0x6010:03, 8

Index 1A18 DRV TxPDO-Map Torque limitation status Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A18:0	DRV TxPDO-Map Torque limitation status Ch.1	PDO Mapping TxPDO 25	UINT8	RO	0x01 (1_dec)
1A18:01	SubIndex 001	1. PDO Mapping entry (object 0x6010 (DRV Inputs Ch.1), entry 0x15 (Torque limitation status))	UINT32	RO	0x6010:15, 8

Index 1A20 DMC TxPDO-Map Inputs Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A20:0	DMC TxPDO-Map Inputs Ch.1	PDO Mapping TxPDO 33	UINT8	RO	0x26 (38_dec)
1A20:01	SubIndex 001	1. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A20:02	SubIndex 002	2. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))	UINT32	RO	0x6020:02, 1
1A20:03	SubIndex 003	3. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x03 (DMC__FeedbackStatus__Set counter done))	UINT32	RO	0x6020:03, 1
1A20:04	SubIndex 004	4. PDO Mapping entry (9 bits align)	UINT32	RO	0x0000:00, 9
1A20:05	SubIndex 005	5. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))	UINT32	RO	0x6020:0D, 1
1A20:06	SubIndex 006	6. PDO Mapping entry (3 bits align)	UINT32	RO	0x0000:00, 3
1A20:07	SubIndex 007	7. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x11 (DMC__DriveStatus__Ready to enable))	UINT32	RO	0x6020:11, 1
1A20:08	SubIndex 008	8. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x12 (DMC__DriveStatus__Ready))	UINT32	RO	0x6020:12, 1
1A20:09	SubIndex 009	9. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x13 (DMC__DriveStatus__Warning))	UINT32	RO	0x6020:13, 1
1A20:0A	SubIndex 010	10. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x14 (DMC__DriveStatus__Error))	UINT32	RO	0x6020:14, 1
1A20:0B	SubIndex 011	11. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x15 (DMC__DriveStatus__Moving positive))	UINT32	RO	0x6020:15, 1
1A20:0C	SubIndex 012	12. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x16 (DMC__DriveStatus__Moving negative))	UINT32	RO	0x6020:16, 1
1A20:0D	SubIndex 013	13. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 5
1A20:0E	SubIndex 014	14. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x1C (DMC__DriveStatus__Digital input 1))	UINT32	RO	0x6020:1C, 1
1A20:0F	SubIndex 015	15. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x1D (DMC__DriveStatus__Digital input 2))	UINT32	RO	0x6020:1D, 1
1A20:10	SubIndex 016	16. PDO Mapping entry (3 bits align)	UINT32	RO	0x0000:00, 3
1A20:11	SubIndex 017	17. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x21 (DMC__PositioningStatus__Busy))	UINT32	RO	0x6020:21, 1
1A20:12	SubIndex 018	18. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x22 (DMC__PositioningStatus__In-Target))	UINT32	RO	0x6020:22, 1
1A20:13	SubIndex 019	19. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x23 (DMC__PositioningStatus__Warning))	UINT32	RO	0x6020:23, 1
1A20:14	SubIndex 020	20. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x24 (DMC__PositioningStatus__Error))	UINT32	RO	0x6020:24, 1
1A20:15	SubIndex 021	21. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x25 (DMC__PositioningStatus__Calibrated))	UINT32	RO	0x6020:25, 1
1A20:16	SubIndex 022	22. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x26 (DMC__PositioningStatus__Accelerate))	UINT32	RO	0x6020:26, 1
1A20:17	SubIndex 023	23. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x27 (DMC__PositioningStatus__Decelerate))	UINT32	RO	0x6020:27, 1
1A20:18	SubIndex 024	24. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x28 (DMC__PositioningStatus__Ready to execute))	UINT32	RO	0x6020:28, 1
1A20:19	SubIndex 025	25. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8
1A20:1A	SubIndex 026	26. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x31 (DMC__Set position))	UINT32	RO	0x6020:31, 64

1A20:1B	SubIndex 027	27. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x32 (DMC__Set velocity))	UINT32	RO	0x6020:32, 16
1A20:1C	SubIndex 028	28. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x33 (DMC__Actual drive time))	UINT32	RO	0x6020:33, 32
1A20:1D	SubIndex 029	29. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x34 (DMC__Actual position lag))	UINT32	RO	0x6020:34, 64
1A20:1E	SubIndex 030	30. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x35 (DMC__Actual velocity))	UINT32	RO	0x6020:35, 16
1A20:1F	SubIndex 031	31. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x36 (DMC__Actual position))	UINT32	RO	0x6020:36, 64
1A20:20	SubIndex 032	32. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x37 (DMC__Error id))	UINT32	RO	0x6020:37, 32
1A20:21	SubIndex 033	33. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x38 (DMC__Input cycle counter))	UINT32	RO	0x6020:38, 8
1A20:22	SubIndex 034	34. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x39 (DMC__Channel id))	UINT32	RO	0x6020:39, 8
1A20:23	SubIndex 035	35. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x3A (DMC__Latch value))	UINT32	RO	0x6020:3A, 64
1A20:24	SubIndex 036	36. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x3B (DMC__Cyclic info data 1))	UINT32	RO	0x6020:3B, 16
1A20:25	SubIndex 037	37. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x3C (DMC__Cyclic info data 2))	UINT32	RO	0x6020:3C, 16
1A20:26	SubIndex 038	38. PDO Mapping entry (64 bits align)	UINT32	RO	0x0000:00, 64

Index 1A21 DMC TxPDO-Map Inputs 32 Bit Ch.1

Index (hex)	Name	Meaning	Data type	Flags	Default
1A21:0	DMC TxPDO-Map Inputs 32 Bit Ch.1	PDO Mapping TxPDO 34	UINT8	RO	0x2A (42_dec)
1A21:01	SubIndex 001	1. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A21:02	SubIndex 002	2. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))	UINT32	RO	0x6020:02, 1
1A21:03	SubIndex 003	3. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x03 (DMC__FeedbackStatus__Set counter done))	UINT32	RO	0x6020:03, 1
1A21:04	SubIndex 004	4. PDO Mapping entry (9 bits align)	UINT32	RO	0x0000:00, 9
1A21:05	SubIndex 005	5. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))	UINT32	RO	0x6020:0D, 1
1A21:06	SubIndex 006	6. PDO Mapping entry (3 bits align)	UINT32	RO	0x0000:00, 3
1A21:07	SubIndex 007	7. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x11 (DMC__DriveStatus__Ready to enable))	UINT32	RO	0x6020:11, 1
1A21:08	SubIndex 008	8. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x12 (DMC__DriveStatus__Ready))	UINT32	RO	0x6020:12, 1
1A21:09	SubIndex 009	9. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x13 (DMC__DriveStatus__Warning))	UINT32	RO	0x6020:13, 1
1A21:0A	SubIndex 010	10. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x14 (DMC__DriveStatus__Error))	UINT32	RO	0x6020:14, 1
1A21:0B	SubIndex 011	11. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x15 (DMC__DriveStatus__Moving positive))	UINT32	RO	0x6020:15, 1
1A21:0C	SubIndex 012	12. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x16 (DMC__DriveStatus__Moving negative))	UINT32	RO	0x6020:16, 1
1A21:0D	SubIndex 013	13. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 5
1A21:0E	SubIndex 014	14. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x1C (DMC__DriveStatus__Digital input 1))	UINT32	RO	0x6020:1C, 1
1A21:0F	SubIndex 015	15. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x1D (DMC__DriveStatus__Digital input 2))	UINT32	RO	0x6020:1D, 1
1A21:10	SubIndex 016	16. PDO Mapping entry (3 bits align)	UINT32	RO	0x0000:00, 3
1A21:11	SubIndex 017	17. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x21 (DMC__PositioningStatus__Busy))	UINT32	RO	0x6020:21, 1
1A21:12	SubIndex 018	18. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x22 (DMC__PositioningStatus__In-Target))	UINT32	RO	0x6020:22, 1
1A21:13	SubIndex 019	19. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x23 (DMC__PositioningStatus__Warning))	UINT32	RO	0x6020:23, 1
1A21:14	SubIndex 020	20. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x24 (DMC__PositioningStatus__Error))	UINT32	RO	0x6020:24, 1
1A21:15	SubIndex 021	21. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x25 (DMC__PositioningStatus__Calibrated))	UINT32	RO	0x6020:25, 1
1A21:16	SubIndex 022	22. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x26 (DMC__PositioningStatus__Accelerate))	UINT32	RO	0x6020:26, 1
1A21:17	SubIndex 023	23. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x27 (DMC__PositioningStatus__Decelerate))	UINT32	RO	0x6020:27, 1
1A21:18	SubIndex 024	24. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x28 (DMC__PositioningStatus__Ready to execute))	UINT32	RO	0x6020:28, 1
1A21:19	SubIndex 025	25. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8
1A21:1A	SubIndex 026	26. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x31 (DMC__Set position))	UINT32	RO	0x6020:31, 32

1A21:1B	SubIndex 027	27. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1A21:1C	SubIndex 028	28. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x32 (DMC__Set velocity))	UINT32	RO	0x6020:32, 16
1A21:1D	SubIndex 029	29. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x33 (DMC__Actual drive time))	UINT32	RO	0x6020:33, 32
1A21:1E	SubIndex 030	30. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x34 (DMC__Actual position lag))	UINT32	RO	0x6020:34, 32
1A21:1F	SubIndex 031	31. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1A21:20	SubIndex 032	32. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x35 (DMC__Actual velocity))	UINT32	RO	0x6020:35, 16
1A21:21	SubIndex 033	33. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x36 (DMC__Actual position))	UINT32	RO	0x6020:36, 32
1A21:22	SubIndex 034	34. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1A21:23	SubIndex 035	35. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x37 (DMC__Error id))	UINT32	RO	0x6020:37, 32
1A21:24	SubIndex 036	36. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x38 (DMC__Input cycle counter))	UINT32	RO	0x6020:38, 8
1A21:25	SubIndex 037	37. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8
1A21:26	SubIndex 038	38. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x3A (DMC__Latch value))	UINT32	RO	0x6020:3A, 32
1A21:27	SubIndex 039	39. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1A21:28	SubIndex 040	40. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x3B (DMC__Cyclic info data 1))	UINT32	RO	0x6020:3B, 16
1A21:29	SubIndex 041	41. PDO Mapping entry (object 0x6020 (DMC Inputs Ch.1), entry 0x3C (DMC__Cyclic info data 2))	UINT32	RO	0x6020:3C, 16
1A21:2A	SubIndex 042	42. PDO Mapping entry (64 bits align)	UINT32	RO	0x0000:00, 64

Index 1A40 FB TxPDO-Map Position Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A40:0	FB TxPDO-Map Position Ch.2	PDO Mapping TxPDO 65	UINT8	RO	0x01 (1_dec)
1A40:01	SubIndex 001	1. PDO Mapping entry (object 0x6100 (FB Inputs Ch.2), entry 0x11 (Position))	UINT32	RO	0x6100:11, 32

Index 1A42 FB TxPDO-Map Status Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A42:0	FB TxPDO-Map Status Ch.2	PDO Mapping TxPDO 67	UINT8	RO	0x03 (3_dec)
1A42:01	SubIndex 001	1. PDO Mapping entry (13 bits align)	UINT32	RO	0x0000:00, 13
1A42:02	SubIndex 002	2. PDO Mapping entry (object 0x6100 (FB Inputs Ch.2), entry 0x0E (TxPDO State))	UINT32	RO	0x6100:0E, 1
1A42:03	SubIndex 003	3. PDO Mapping entry (object 0x6100 (FB Inputs Ch.2), entry 0x0F (Input cycle counter))	UINT32	RO	0x6100:0F, 2

Index 1A43 FB TxPDO-Map Touch probe status Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A43:0	FB TxPDO-Map Touch probe status Ch.2	PDO Mapping TxPDO 68	UINT8	RO	0x0A (10_dec)
1A43:01	SubIndex 001	1. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x01 (TP1 Enable))	UINT32	RO	0x6101:01, 1
1A43:02	SubIndex 002	2. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x02 (TP1 Pos value stored))	UINT32	RO	0x6101:02, 1
1A43:03	SubIndex 003	3. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x03 (TP1 Neg value stored))	UINT32	RO	0x6101:03, 1
1A43:04	SubIndex 004	4. PDO Mapping entry (4 bits align)	UINT32	RO	0x0000:00, 4
1A43:05	SubIndex 005	5. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x08 (TP1 Input))	UINT32	RO	0x6101:08, 1
1A43:06	SubIndex 006	6. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x09 (TP2 Enable))	UINT32	RO	0x6101:09, 1
1A43:07	SubIndex 007	7. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x0A (TP2 Pos value stored))	UINT32	RO	0x6101:0A, 1
1A43:08	SubIndex 008	8. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x0B (TP2 Neg value stored))	UINT32	RO	0x6101:0B, 1
1A43:09	SubIndex 009	9. PDO Mapping entry (4 bits align)	UINT32	RO	0x0000:00, 4
1A43:0A	SubIndex 010	10. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x10 (TP2 Input))	UINT32	RO	0x6101:10, 1

Index 1A44 FB TxPDO-Map Touch probe 1 pos position Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A44:0	FB TxPDO-Map Touch probe 1 pos position Ch.2	PDO Mapping TxPDO 69	UINT8	RO	0x01 (1_dec)
1A44:01	SubIndex 001	1. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x11 (TP1 Pos position))	UINT32	RO	0x6101:11, 32

Index 1A45 FB TxPDO-Map Touch probe 1 neg position Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A45:0	FB TxPDO-Map Touch probe 1 neg position Ch.2	PDO Mapping TxPDO 70	UINT8	RO	0x01 (1_dec)
1A45:01	SubIndex 001	1. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x12 (TP1 Neg position))	UINT32	RO	0x6101:12, 32

Index 1A46 FB TxPDO-Map Touch probe 2 pos position Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A46:0	FB TxPDO-Map Touch probe 2 pos position Ch.2	PDO Mapping TxPDO 71	UINT8	RO	0x01 (1_dec)
1A46:01	SubIndex 001	1. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x13 (TP2 Pos position))	UINT32	RO	0x6101:13, 32

Index 1A47 FB TxPDO-Map Touch probe 2 neg position Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A47:0	FB TxPDO-Map Touch probe 2 neg position Ch.2	PDO Mapping TxPDO 72	UINT8	RO	0x01 (1_dec)
1A47:01	SubIndex 001	1. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x14 (TP2 Neg position))	UINT32	RO	0x6101:14, 32

Index 1A48 FB TxPDO-Map Touch probe 1 pos timestamp Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A48:0	FB TxPDO-Map Touch probe 1 pos timestamp Ch.2	PDO Mapping TxPDO 73	UINT8	RO	0x01 (1_dec)
1A48:01	SubIndex 001	1. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x15 (TP1 Pos timestamp))	UINT32	RO	0x6101:15, 32

Index 1A49 FB TxPDO-Map Touch probe 1 neg timestamp Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A49:0	FB TxPDO-Map Touch probe 1 neg timestamp Ch.2	PDO Mapping TxPDO 74	UINT8	RO	0x01 (1_dec)
1A49:01	SubIndex 001	1. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x16 (TP1 Neg timestamp))	UINT32	RO	0x6101:16, 32

Index 1A4A FB TxPDO-Map Touch probe 2 pos timestamp Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A4A:0	FB TxPDO-Map Touch probe 2 pos timestamp Ch.2	PDO Mapping TxPDO 75	UINT8	RO	0x01 (1_dec)
1A4A:01	SubIndex 001	1. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x17 (TP2 Pos timestamp))	UINT32	RO	0x6101:17, 32

Index 1A4B FB TxPDO-Map Touch probe 2 neg timestamp Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A4B:0	FB TxPDO-Map Touch probe 2 neg timestamp Ch.2	PDO Mapping TxPDO 76	UINT8	RO	0x01 (1_dec)
1A4B:01	SubIndex 001	1. PDO Mapping entry (object 0x6101 (FB Touch probe inputs Ch.2), entry 0x18 (TP2 Neg timestamp))	UINT32	RO	0x6101:18, 32

Index 1A50 DRV TxPDO-Map Statusword Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A50:0	DRV TxPDO-Map Statusword Ch.2	PDO Mapping TxPDO 81	UINT8	RO	0x01 (1_dec)
1A50:01	SubIndex 001	1. PDO Mapping entry (object 0x6110 (DRV Inputs Ch.2), entry 0x01 (Statusword))	UINT32	RO	0x6110:01, 16

Index 1A51 DRV TxPDO-Map Following error actual value Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A51:0	DRV TxPDO-Map Following error actual value Ch.2	PDO Mapping TxPDO 82	UINT8	RO	0x01 (1_dec)
1A51:01	SubIndex 001	1. PDO Mapping entry (object 0x6110 (DRV Inputs Ch.2), entry 0x06 (Following error actual value))	UINT32	RO	0x6110:06, 32

Index 1A52 DRV TxPDO-Map Velocity actual value Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A52:0	DRV TxPDO-Map Velocity actual value Ch.2	PDO Mapping TxPDO 83	UINT8	RO	0x01 (1_dec)
1A52:01	SubIndex 001	1. PDO Mapping entry (object 0x6110 (DRV Inputs Ch.2), entry 0x07 (Velocity actual value))	UINT32	RO	0x6110:07, 32

Index 1A53 DRV TxPDO-Map Torque actual value Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A53:0	DRV TxPDO-Map Torque actual value Ch.2	PDO Mapping TxPDO 84	UINT8	RO	0x01 (1_dec)
1A53:01	SubIndex 001	1. PDO Mapping entry (object 0x6110 (DRV Inputs Ch.2), entry 0x08 (Torque actual value))	UINT32	RO	0x6110:08, 16

Index 1A54 DRV TxPDO-Map Info data 1 Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A54:0	DRV TxPDO-Map Info data 1 Ch.2	PDO Mapping TxPDO 85	UINT8	RW	0x01 (1_dec)
1A54:01	SubIndex 001	1. PDO Mapping entry (object 0x6110 (DRV Inputs Ch.2), entry 0x12 (Info data 1))	UINT32	RW	0x6110:12, 16
1A54:02	SubIndex 002	2. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:03	SubIndex 003	3. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:04	SubIndex 004	4. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:05	SubIndex 005	5. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:06	SubIndex 006	6. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:07	SubIndex 007	7. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:08	SubIndex 008	8. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:09	SubIndex 009	9. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:0A	SubIndex 010	10. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:0B	SubIndex 011	11. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:0C	SubIndex 012	12. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:0D	SubIndex 013	13. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:0E	SubIndex 014	14. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:0F	SubIndex 015	15. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A54:10	SubIndex 016	16. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0

Index 1A55 DRV TxPDO-Map Info data 2 Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A55:0	DRV TxPDO-Map Info data 2 Ch.2	PDO Mapping TxPDO 86	UINT8	RW	0x01 (1_dec)
1A55:01	SubIndex 001	1. PDO Mapping entry (object 0x6110 (DRV Inputs Ch.2), entry 0x13 (Info data 2))	UINT32	RW	0x6110:13, 16
1A55:02	SubIndex 002	2. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:03	SubIndex 003	3. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:04	SubIndex 004	4. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:05	SubIndex 005	5. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:06	SubIndex 006	6. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:07	SubIndex 007	7. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:08	SubIndex 008	8. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:09	SubIndex 009	9. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:0A	SubIndex 010	10. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:0B	SubIndex 011	11. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:0C	SubIndex 012	12. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:0D	SubIndex 013	13. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:0E	SubIndex 014	14. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:0F	SubIndex 015	15. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A55:10	SubIndex 016	16. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0

Index 1A56 DRV TxPDO-Map Info data 3 Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A56:0	DRV TxPDO-Map Info data 3 Ch.2	PDO Mapping TxPDO 87	UINT8	RW	0x01 (1_dec)
1A56:01	SubIndex 001	1. PDO Mapping entry (object 0x6110 (DRV Inputs Ch.2), entry 0x14 (Info data 3))	UINT32	RW	0x6110:14, 16
1A56:02	SubIndex 002	2. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:03	SubIndex 003	3. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:04	SubIndex 004	4. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:05	SubIndex 005	5. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:06	SubIndex 006	6. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:07	SubIndex 007	7. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:08	SubIndex 008	8. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:09	SubIndex 009	9. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:0A	SubIndex 010	10. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:0B	SubIndex 011	11. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:0C	SubIndex 012	12. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:0D	SubIndex 013	13. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:0E	SubIndex 014	14. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:0F	SubIndex 015	15. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0
1A56:10	SubIndex 016	16. PDO Mapping entry (0 bits align)	UINT32	RW	0x0000:00, 0

Index 1A57 DRV TxPDO-Map Modes of operation display Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A57:0	DRV TxPDO-Map Modes of operation display Ch.2	PDO Mapping TxPDO 88	UINT8	RO	0x01 (1_dec)
1A57:01	SubIndex 001	1. PDO Mapping entry (object 0x6110 (DRV Inputs Ch.2), entry 0x03 (Modes of operation display))	UINT32	RO	0x6110:03, 8

Index 1A58 DRV TxPDO-Map Torque limitation status Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A58:0	DRV TxPDO-Map Torque limitation status Ch.2	PDO Mapping TxPDO 89	UINT8	RO	0x01 (1_dec)
1A58:01	SubIndex 001	1. PDO Mapping entry (object 0x6110 (DRV Inputs Ch.2), entry 0x15 (Torque limitation status))	UINT32	RO	0x6110:15, 8

Index 1A60 DMC TxPDO-Map Inputs Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A60:0	DMC TxPDO-Map Inputs Ch.2	PDO Mapping TxPDO 97	UINT8	RO	0x26 (38_dec)
1A60:01	SubIndex 001	1. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A60:02	SubIndex 002	2. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))	UINT32	RO	0x6120:02, 1
1A60:03	SubIndex 003	3. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x03 (DMC__FeedbackStatus__Set counter done))	UINT32	RO	0x6120:03, 1
1A60:04	SubIndex 004	4. PDO Mapping entry (9 bits align)	UINT32	RO	0x0000:00, 9
1A60:05	SubIndex 005	5. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))	UINT32	RO	0x6120:0D, 1
1A60:06	SubIndex 006	6. PDO Mapping entry (3 bits align)	UINT32	RO	0x0000:00, 3
1A60:07	SubIndex 007	7. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x11 (DMC__DriveStatus__Ready to enable))	UINT32	RO	0x6120:11, 1
1A60:08	SubIndex 008	8. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x12 (DMC__DriveStatus__Ready))	UINT32	RO	0x6120:12, 1
1A60:09	SubIndex 009	9. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x13 (DMC__DriveStatus__Warning))	UINT32	RO	0x6120:13, 1
1A60:0A	SubIndex 010	10. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x14 (DMC__DriveStatus__Error))	UINT32	RO	0x6120:14, 1
1A60:0B	SubIndex 011	11. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x15 (DMC__DriveStatus__Moving positive))	UINT32	RO	0x6120:15, 1
1A60:0C	SubIndex 012	12. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x16 (DMC__DriveStatus__Moving negative))	UINT32	RO	0x6120:16, 1
1A60:0D	SubIndex 013	13. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 5
1A60:0E	SubIndex 014	14. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x1C (DMC__DriveStatus__Digital input 1))	UINT32	RO	0x6120:1C, 1
1A60:0F	SubIndex 015	15. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x1D (DMC__DriveStatus__Digital input 2))	UINT32	RO	0x6120:1D, 1
1A60:10	SubIndex 016	16. PDO Mapping entry (3 bits align)	UINT32	RO	0x0000:00, 3
1A60:11	SubIndex 017	17. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x21 (DMC__PositioningStatus__Busy))	UINT32	RO	0x6120:21, 1
1A60:12	SubIndex 018	18. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x22 (DMC__PositioningStatus__In-Target))	UINT32	RO	0x6120:22, 1
1A60:13	SubIndex 019	19. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x23 (DMC__PositioningStatus__Warning))	UINT32	RO	0x6120:23, 1
1A60:14	SubIndex 020	20. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x24 (DMC__PositioningStatus__Error))	UINT32	RO	0x6120:24, 1
1A60:15	SubIndex 021	21. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x25 (DMC__PositioningStatus__Calibrated))	UINT32	RO	0x6120:25, 1
1A60:16	SubIndex 022	22. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x26 (DMC__PositioningStatus__Accelerate))	UINT32	RO	0x6120:26, 1
1A60:17	SubIndex 023	23. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x27 (DMC__PositioningStatus__Decelerate))	UINT32	RO	0x6120:27, 1
1A60:18	SubIndex 024	24. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x28 (DMC__PositioningStatus__Ready to execute))	UINT32	RO	0x6120:28, 1
1A60:19	SubIndex 025	25. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8
1A60:1A	SubIndex 026	26. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x31 (DMC__Set position))	UINT32	RO	0x6120:31, 64

1A60:1B	SubIndex 027	27. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x32 (DMC__Set velocity))	UINT32	RO	0x6120:32, 16
1A60:1C	SubIndex 028	28. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x33 (DMC__Actual drive time))	UINT32	RO	0x6120:33, 32
1A60:1D	SubIndex 029	29. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x34 (DMC__Actual position lag))	UINT32	RO	0x6120:34, 64
1A60:1E	SubIndex 030	30. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x35 (DMC__Actual velocity))	UINT32	RO	0x6120:35, 16
1A60:1F	SubIndex 031	31. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x36 (DMC__Actual position))	UINT32	RO	0x6120:36, 64
1A60:20	SubIndex 032	32. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x37 (DMC__Error id))	UINT32	RO	0x6120:37, 32
1A60:21	SubIndex 033	33. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x38 (DMC__Input cycle counter))	UINT32	RO	0x6120:38, 8
1A60:22	SubIndex 034	34. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x39 (DMC__Channel id))	UINT32	RO	0x6120:39, 8
1A60:23	SubIndex 035	35. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x3A (DMC__Latch value))	UINT32	RO	0x6120:3A, 64
1A60:24	SubIndex 036	36. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x3B (DMC__Cyclic info data 1))	UINT32	RO	0x6120:3B, 16
1A60:25	SubIndex 037	37. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x3C (DMC__Cyclic info data 2))	UINT32	RO	0x6120:3C, 16
1A60:26	SubIndex 038	38. PDO Mapping entry (64 bits align)	UINT32	RO	0x0000:00, 64

Index 1A61 DMC TxPDO-Map Inputs 32 Bit Ch.2

Index (hex)	Name	Meaning	Data type	Flags	Default
1A61:0	DMC TxPDO-Map Inputs 32 Bit Ch.2	PDO Mapping TxPDO 98	UINT8	RO	0x2A (42_dec)
1A61:01	SubIndex 001	1. PDO Mapping entry (1 bits align)	UINT32	RO	0x0000:00, 1
1A61:02	SubIndex 002	2. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x02 (DMC__FeedbackStatus__Latch extern valid))	UINT32	RO	0x6120:02, 1
1A61:03	SubIndex 003	3. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x03 (DMC__FeedbackStatus__Set counter done))	UINT32	RO	0x6120:03, 1
1A61:04	SubIndex 004	4. PDO Mapping entry (9 bits align)	UINT32	RO	0x0000:00, 9
1A61:05	SubIndex 005	5. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x0D (DMC__FeedbackStatus__Status of extern latch))	UINT32	RO	0x6120:0D, 1
1A61:06	SubIndex 006	6. PDO Mapping entry (3 bits align)	UINT32	RO	0x0000:00, 3
1A61:07	SubIndex 007	7. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x11 (DMC__DriveStatus__Ready to enable))	UINT32	RO	0x6120:11, 1
1A61:08	SubIndex 008	8. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x12 (DMC__DriveStatus__Ready))	UINT32	RO	0x6120:12, 1
1A61:09	SubIndex 009	9. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x13 (DMC__DriveStatus__Warning))	UINT32	RO	0x6120:13, 1
1A61:0A	SubIndex 010	10. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x14 (DMC__DriveStatus__Error))	UINT32	RO	0x6120:14, 1
1A61:0B	SubIndex 011	11. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x15 (DMC__DriveStatus__Moving positive))	UINT32	RO	0x6120:15, 1
1A61:0C	SubIndex 012	12. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x16 (DMC__DriveStatus__Moving negative))	UINT32	RO	0x6120:16, 1
1A61:0D	SubIndex 013	13. PDO Mapping entry (5 bits align)	UINT32	RO	0x0000:00, 5
1A61:0E	SubIndex 014	14. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x1C (DMC__DriveStatus__Digital input 1))	UINT32	RO	0x6120:1C, 1
1A61:0F	SubIndex 015	15. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x1D (DMC__DriveStatus__Digital input 2))	UINT32	RO	0x6120:1D, 1
1A61:10	SubIndex 016	16. PDO Mapping entry (3 bits align)	UINT32	RO	0x0000:00, 3
1A61:11	SubIndex 017	17. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x21 (DMC__PositioningStatus__Busy))	UINT32	RO	0x6120:21, 1
1A61:12	SubIndex 018	18. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x22 (DMC__PositioningStatus__In-Target))	UINT32	RO	0x6120:22, 1
1A61:13	SubIndex 019	19. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x23 (DMC__PositioningStatus__Warning))	UINT32	RO	0x6120:23, 1
1A61:14	SubIndex 020	20. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x24 (DMC__PositioningStatus__Error))	UINT32	RO	0x6120:24, 1
1A61:15	SubIndex 021	21. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x25 (DMC__PositioningStatus__Calibrated))	UINT32	RO	0x6120:25, 1
1A61:16	SubIndex 022	22. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x26 (DMC__PositioningStatus__Accelerate))	UINT32	RO	0x6120:26, 1
1A61:17	SubIndex 023	23. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x27 (DMC__PositioningStatus__Decelerate))	UINT32	RO	0x6120:27, 1
1A61:18	SubIndex 024	24. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x28 (DMC__PositioningStatus__Ready to execute))	UINT32	RO	0x6120:28, 1
1A61:19	SubIndex 025	25. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8
1A61:1A	SubIndex 026	26. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x31 (DMC__Set position))	UINT32	RO	0x6120:31, 32

1A61:1B	SubIndex 027	27. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1A61:1C	SubIndex 028	28. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x32 (DMC__Set velocity))	UINT32	RO	0x6120:32, 16
1A61:1D	SubIndex 029	29. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x33 (DMC__Actual drive time))	UINT32	RO	0x6120:33, 32
1A61:1E	SubIndex 030	30. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x34 (DMC__Actual position lag))	UINT32	RO	0x6120:34, 32
1A61:1F	SubIndex 031	31. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1A61:20	SubIndex 032	32. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x35 (DMC__Actual velocity))	UINT32	RO	0x6120:35, 16
1A61:21	SubIndex 033	33. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x36 (DMC__Actual position))	UINT32	RO	0x6120:36, 32
1A61:22	SubIndex 034	34. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1A61:23	SubIndex 035	35. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x37 (DMC__Error id))	UINT32	RO	0x6120:37, 32
1A61:24	SubIndex 036	36. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x38 (DMC__Input cycle counter))	UINT32	RO	0x6120:38, 8
1A61:25	SubIndex 037	37. PDO Mapping entry (8 bits align)	UINT32	RO	0x0000:00, 8
1A61:26	SubIndex 038	38. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x3A (DMC__Latch value))	UINT32	RO	0x6120:3A, 32
1A61:27	SubIndex 039	39. PDO Mapping entry (32 bits align)	UINT32	RO	0x0000:00, 32
1A61:28	SubIndex 040	40. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x3B (DMC__Cyclic info data 1))	UINT32	RO	0x6120:3B, 16
1A61:29	SubIndex 041	41. PDO Mapping entry (object 0x6120 (DMC Inputs Ch.2), entry 0x3C (DMC__Cyclic info data 2))	UINT32	RO	0x6120:3C, 16
1A61:2A	SubIndex 042	42. PDO Mapping entry (64 bits align)	UINT32	RO	0x0000:00, 64

Index 1A80 DRV TxPDO-Map Brake Chopper Inputs

Index (hex)	Name	Meaning	Data type	Flags	Default
1A80:0	DRV TxPDO-Map Brake Chopper Inputs	PDO Mapping TxPDO 129	UINT8	RO	0x07 (7_dec)
1A80:01	SubIndex 001	1. PDO Mapping entry (2 bits align)	UINT32	RO	0x0000:00, 2
1A80:02	SubIndex 002	2. PDO Mapping entry (object 0xF600 (DRV Brake Chopper Inputs), entry 0x03 (Brake chopper I2T warning))	UINT32	RO	0xF600:03, 1
1A80:03	SubIndex 003	3. PDO Mapping entry (2 bits align)	UINT32	RO	0x0000:00, 2
1A80:04	SubIndex 004	4. PDO Mapping entry (object 0xF600 (DRV Brake Chopper Inputs), entry 0x06 (Brake chopper on))	UINT32	RO	0xF600:06, 1
1A80:05	SubIndex 005	5. PDO Mapping entry (10 bits align)	UINT32	RO	0x0000:00, 10
1A80:06	SubIndex 006	6. PDO Mapping entry (object 0xF600 (DRV Brake Chopper Inputs), entry 0x11 (Brake chopper dutycycle))	UINT32	RO	0xF600:11, 8
1A80:07	SubIndex 007	7. PDO Mapping entry (object 0xF600 (DRV Brake Chopper Inputs), entry 0x12 (Brake chopper I2T utilisation))	UINT32	RO	0xF600:12, 8

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 (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)

Index 1C12 RxPDO assign

Index (hex)	Name	Meaning	Data type	Flags	Default
1C12:0	RxPDO assign	PDO Assign Outputs	UINT8	RW	0x04 (4_dec)
1C12:01	SubIndex 001	1. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1610 (5648_dec)
1C12:02	SubIndex 002	2. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1611 (5649_dec)
1C12:03	SubIndex 003	3. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1650 (5712_dec)
1C12:04	SubIndex 004	4. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x1651 (5713_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)
1C12:09	SubIndex 009	9. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:0A	SubIndex 010	10. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:0B	SubIndex 011	11. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:0C	SubIndex 012	12. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:0D	SubIndex 013	13. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:0E	SubIndex 014	14. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:0F	SubIndex 015	15. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:10	SubIndex 016	16. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:11	SubIndex 017	17. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:12	SubIndex 018	18. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:13	SubIndex 019	19. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:14	SubIndex 020	20. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:15	SubIndex 021	21. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:16	SubIndex 022	22. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:17	SubIndex 023	23. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:18	SubIndex 024	24. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:19	SubIndex 025	25. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:1A	SubIndex 026	26. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:1B	SubIndex 027	27. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:1C	SubIndex 028	28. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:1D	SubIndex 029	29. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C12:1E	SubIndex 030	30. allocated RxPDO (contains the index of the associated RxPDO mapping object)	UINT16	RW	0x0000 (0_dec)

Index 1C13 TxPDO assign

Index (hex)	Name	Meaning	Data type	Flags	Default
1C13:0	TxPDO assign	PDO Assign Inputs	UINT8	RW	0x06 (6_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	0x1A10 (6672_dec)
1C13:03	SubIndex 003	3. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A11 (6673_dec)
1C13:04	SubIndex 004	4. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A40 (6720_dec)
1C13:05	SubIndex 005	5. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A50 (6736_dec)
1C13:06	SubIndex 006	6. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x1A51 (6737_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)
1C13:0E	SubIndex 014	14. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:0F	SubIndex 015	15. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:10	SubIndex 016	16. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:11	SubIndex 017	17. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:12	SubIndex 018	18. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:13	SubIndex 019	19. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:14	SubIndex 020	20. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:15	SubIndex 021	21. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:16	SubIndex 022	22. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:17	SubIndex 023	23. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:18	SubIndex 024	24. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:19	SubIndex 025	25. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:1A	SubIndex 026	26. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:1B	SubIndex 027	27. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:1C	SubIndex 028	28. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:1D	SubIndex 029	29. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:1E	SubIndex 030	30. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)

1C13:1F	SubIndex 031	31. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:20	SubIndex 032	32. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:21	SubIndex 033	33. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:22	SubIndex 034	34. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:23	SubIndex 035	35. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:24	SubIndex 036	36. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:25	SubIndex 037	37. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:26	SubIndex 038	38. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:27	SubIndex 039	39. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:28	SubIndex 040	40. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:29	SubIndex 041	41. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:2A	SubIndex 042	42. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)
1C13:2B	SubIndex 043	43. allocated TxPDO (contains the index of the associated TxPDO mapping object)	UINT16	RW	0x0000 (0_dec)

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 (32_dec)
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 (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	0x00000000 (0_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	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 (DC-Mode only) Bit 14 = 1: dynamic times (measurement through writing of 1C32:08)	UINT16	RO	0x0000 (0_dec)
1C32:05	Minimum cycle time	Minimum cycle time (in ns)	UINT32	RO	0x00000000 (0_dec)
1C32:06	Calc and copy time		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 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)
1C32:0A	Sync0 Cycle Time		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 occasions that the interval between SYNC0 and SYNC1 event was 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)

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 (32_dec)
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 (0_dec)
1C33:02	Cycle time	as 1C32:02	UINT32	RW	0x00000000 (0_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	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 1C32:08 or 1C33:08)	UINT16	RO	0x0000 (0_dec)
1C33:05	Minimum cycle time	as 1C32:05	UINT32	RO	0x00000000 (0_dec)
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 (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, only DC mode)	UINT32	RO	0x00000000 (0_dec)
1C33:0A	Sync0 Cycle Time		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)

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 (2_dec)
F000:01	Index distance	Index distance of the objects of the individual channels	UINT16	RO	0x0010 (16_dec)
F000:02	Maximum number of modules	Number of channels	UINT16	RO	0x0013 (19_dec)

Index F008 Code word

Index (hex)	Name	Meaning	Data type	Flags	Default
F008:0	Code word		UINT32	RW	0x00000000 (0_dec)

Index F010 Module Profile List

Index (hex)	Name	Data type	Flags	Default
F010:0	Module Profile List	UINT8	RO	0x13 (19_dec)
F010:01	SubIndex 001	UINT32	RO	0x00000201 (513_dec)
F010:02	SubIndex 002	UINT32	RO	0x000002E6 (742_dec)
F010:03	SubIndex 003	UINT32	RO	0x000002EE (750_dec)
F010:04	SubIndex 004	UINT32	RO	0x00000000 (0_dec)
F010:05	SubIndex 005	UINT32	RO	0x00000000 (0_dec)
F010:06	SubIndex 006	UINT32	RO	0x00000000 (0_dec)
F010:07	SubIndex 007	UINT32	RO	0x00000000 (0_dec)
F010:08	SubIndex 008	UINT32	RO	0x00000000 (0_dec)
010F:09	SubIndex 009	UINT32	RO	0x00000000 (0_dec)
F010:0A	SubIndex 010	UINT32	RO	0x00000000 (0_dec)
F010:0B	SubIndex 011	UINT32	RO	0x00000000 (0_dec)
F010:0C	SubIndex 012	UINT32	RO	0x00000000 (0_dec)
F010:0D	SubIndex 013	UINT32	RO	0x00000000 (0_dec)
F010:0E	SubIndex 014	UINT32	RO	0x00000000 (0_dec)
F010:0F	SubIndex 015	UINT32	RO	0x00000000 (0_dec)
F010:10	SubIndex 016	UINT32	RO	0x00000000 (0_dec)
F010:11	SubIndex 017	UINT32	RO	0x00000201 (513_dec)
F010:12	SubIndex 018	UINT32	RO	0x000002E6 (742_dec)
F010:13	SubIndex 019	UINT32	RO	0x000002EE (750_dec)

Index F081 Download revision

Index (hex)	Name	Meaning	Data type	Flags	Default
F081:0	Download revision		UINT8	RO	0x01 (1_dec)
F081:01	Revision number		UINT32	RW	0x00000000 (0_dec)

Index FB40 Memory interface

Index (hex)	Name	Data type	Flags	Default
FB40:0	Memory interface	UINT8	RO	0x03 (3_dec)
FB40:01	Address	UINT32	RW	0x00000000 (0_dec)
FB40:02	Length	UINT16	RW	0x0000 (0_dec)
FB40:03	Data	OCTET-STRING[8]	RW	{0}