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 (5001dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT device.

STRING

RO

EP1839-0022

/

EP1839-0042

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT device.

STRING

RO

 

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT device.

STRING

RO

02

Index 100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100B: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 parameters

UINT8

RO

0x01 (1dec)

1011:01

SubIndex 001

If this object is set to the value "0x64616F6C", all backup objects are reset to the delivery state.

UINT32

RW

0x00000000 (0dec)

Index 1018 Identity

Index (hex)

Name

Meaning

Data type

Flags

Default

1018:0

Identity

Information for identifying the slave

UINT8

RO

0x04 (4dec)

1018:01

Vendor ID

Vendor ID of the EtherCAT slave

UINT32

RO

0x00000002 (2dec)

1018:02

Product code

Product code of the EtherCAT slave

UINT32

RO

0x072F4052 (120537170dec)

1018:03

Revision

Revision number of the EtherCAT slave; the Low Word (bit 0-15) indicates the special terminal number, the High Word (bit 16-31) refers to the device description

UINT32

RO

0x00000000 (0dec)

1018:04

Serial number

Serial number of the EtherCAT slave; the Low Byte (bit 0-7) of the Low Word contains the year of production, the High Byte (bit 8-15) of the Low Word contains the week of production, the High Word (bit 16-31) is 0

UINT32

RO

0x00000000 (0dec)

Index 10E2 Manufacturer-specific Identification Code

Index (hex)

Name

Meaning

Data type

Flags

Default

10E2:0

Manufacturer-specific Identification Code

 

UINT8

RO

0x01 (1dec)

10E2:01

SubIndex 001

reserved

STRING

RO

 

Index 10F0 Backup parameter handling

Index (hex)

Name

Meaning

Data type

Flags

Default

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0dec)

Index 10F3 Diagnosis History

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis History

 

UINT8

RO

0x15 (21dec)

10F3:01

Maximum Messages

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

UINT8

RO

0x00 (0dec)

10F3:02

Newest Message

Subindex of the latest message.

UINT8

RO

0x00 (0dec)

10F3:03

Newest Acknowledged Message

Subindex of the last confirmed message.

UINT8

RW

0x00 (0dec)

10F3:04

New Messages Available

Indicates that a new message is available.

BOOLEAN

RO

0x00 (0dec)

10F3:05

Flags

 

UINT16

RW

0x0000 (0dec)

10F3:06

Diagnosis Message 001

Diag Message 1

OCTET-STRING[20]

RO

{0}

…

…

…

…

…

…

10F3:15

Diagnosis Message 016

Diag Message 16

OCTET-STRING[20]

RO

{0}

Index 10F8 Timestamp Object

Index (hex)

Name

Meaning

Data type

Flags

Default

10F8:0

Timestamp Object

Timestamp

UINT64

RO

 

Index 10F9 Time Distribution Object

Index (hex)

Name

Meaning

Data type

Flags

Default

10F9:0

Time Distribution Object

 

UINT8

RO

0x01 (1dec)

10F9:01

Distributed Time Value

Object for time distribution by the EtherCAT master.

UINT64

RW

 

Index 1602 DOS RxPDO-Map Output

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

DOS RxPDO-Map Output

PDO Mapping RxPDO 3

UINT8

RO

0x08 (8dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7100 (DOS Output Ch.01), entry 0x01 (Output))

UINT32

RO

0x7100:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7110 (DOS Output Ch.02), entry 0x01 (Output))

UINT32

RO

0x7110:01, 1

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7120 (DOS Output Ch.03), entry 0x01 (Output))

UINT32

RO

0x7120:01, 1

1602:04

SubIndex 004

4. PDO Mapping entry (object 0x7130 (DOS Output Ch.04), entry 0x01 (Output))

UINT32

RO

0x7130:01, 1

1602:05

SubIndex 005

5. PDO Mapping entry (object 0x7140 (DOS Output Ch.05), entry 0x01 (Output))

UINT32

RO

0x7140:01, 1

1602:06

SubIndex 006

6. PDO Mapping entry (object 0x7150 (DOS Output Ch.06), entry 0x01 (Output))

UINT32

RO

0x7150:01, 1

1602:07

SubIndex 007

7. PDO Mapping entry (object 0x7160 (DOS Output Ch.07), entry 0x01 (Output))

UINT32

RO

0x7160:01, 1

1602:08

SubIndex 008

8. PDO Mapping entry (object 0x7170 (DOS Output Ch.08), entry 0x01 (Output))

UINT32

RO

0x7170:01, 1

Index 1801 DIP TxPDO-Par Diagnosis

Index (hex)

Name

Meaning

Data type

Flags

Default

1801:0

DIP TxPDO-Par Diagnosis

PDO parameter TxPDO 2

UINT8

RO

0x06 (6dec)

1801:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

04 1A

Index 1804 DIP TxPDO-Par Extended Diagnosis

Index (hex)

Name

Meaning

Data type

Flags

Default

1804:0

DIP TxPDO-Par Extended Diagnosis

PDO parameter TxPDO 5

UINT8

RO

0x06 (6dec)

1804:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 5

OCTET-STRING[2]

RO

01 1A

Index 1A00 DIP TxPDO-Map Input

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

DIP TxPDO-Map Input

PDO Mapping TxPDO 1

UINT8

RO

0x10 (16dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DIP Input Ch.01), entry 0x01 (Input))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DIP Input Ch.02), entry 0x01 (Input))

UINT32

RO

0x6010:01, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (DIP Input Ch.03), entry 0x01 (Input))

UINT32

RO

0x6020:01, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (DIP Input Ch.04), entry 0x01 (Input))

UINT32

RO

0x6030:01, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6040 (DIP Input Ch.05), entry 0x01 (Input))

UINT32

RO

0x6040:01, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6050 (DIP Input Ch.06), entry 0x01 (Input))

UINT32

RO

0x6050:01, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6060 (DIP Input Ch.07), entry 0x01 (Input))

UINT32

RO

0x6060:01, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6070 (DIP Input Ch.08), entry 0x01 (Input))

UINT32

RO

0x6070:01, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6080 (DIP Input Ch.09), entry 0x01 (Input))

UINT32

RO

0x6080:01, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6090 (DIP Input Ch.10), entry 0x01 (Input))

UINT32

RO

0x6090:01, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x60A0 (DIP Input Ch.11), entry 0x01 (Input))

UINT32

RO

0x60A0:01, 1

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x60B0 (DIP Input Ch.12), entry 0x01 (Input))

UINT32

RO

0x60B0:01, 1

1A00:0D

SubIndex 013

13. PDO Mapping entry (object 0x60C0 (DIP Input Ch.13), entry 0x01 (Input))

UINT32

RO

0x60C0:01, 1

1A00:0E

SubIndex 014

14. PDO Mapping entry (object 0x60D0 (DIP Input Ch.14), entry 0x01 (Input))

UINT32

RO

0x60D0:01, 1

1A00:0F

SubIndex 015

15. PDO Mapping entry (object 0x60E0 (DIP Input Ch.15), entry 0x01 (Input))

UINT32

RO

0x60E0:01, 1

1A00:10

SubIndex 016

16. PDO Mapping entry (object 0x60F0 (DIP Input Ch.16), entry 0x01 (Input))

UINT32

RO

0x60F0:01, 1

Index 1A01 DIP TxPDO-Map Diagnosis

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

DIP TxPDO-Map Diagnosis

PDO Mapping TxPDO 2

UINT8

RO

0x10 (16dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (DIP Diagnosis Ch.01), entry 0x01 (Wirebreak))

UINT32

RO

0x6001:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6011 (DIP Diagnosis Ch.02), entry 0x01 (Wirebreak))

UINT32

RO

0x6011:01, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6021 (DIP Diagnosis Ch.03), entry 0x01 (Wirebreak))

UINT32

RO

0x6021:01, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6031 (DIP Diagnosis Ch.04), entry 0x01 (Wirebreak))

UINT32

RO

0x6031:01, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6041 (DIP Diagnosis Ch.05), entry 0x01 (Wirebreak))

UINT32

RO

0x6041:01, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6051 (DIP Diagnosis Ch.06), entry 0x01 (Wirebreak))

UINT32

RO

0x6051:01, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6061 (DIP Diagnosis Ch.07), entry 0x01 (Wirebreak))

UINT32

RO

0x6061:01, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6071 (DIP Diagnosis Ch.08), entry 0x01 (Wirebreak))

UINT32

RO

0x6071:01, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (object 0x6081 (DIP Diagnosis Ch.09), entry 0x01 (Wirebreak))

UINT32

RO

0x6081:01, 1

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x6091 (DIP Diagnosis Ch.10), entry 0x01 (Wirebreak))

UINT32

RO

0x6091:01, 1

1A01:0B

SubIndex 011

11. PDO Mapping entry (object 0x60A1 (DIP Diagnosis Ch.11), entry 0x01 (Wirebreak))

UINT32

RO

0x60A1:01, 1

1A01:0C

SubIndex 012

12. PDO Mapping entry (object 0x60B1 (DIP Diagnosis Ch.12), entry 0x01 (Wirebreak))

UINT32

RO

0x60B1:01, 1

1A01:0D

SubIndex 013

13. PDO Mapping entry (object 0x60C1 (DIP Diagnosis Ch.13), entry 0x01 (Wirebreak))

UINT32

RO

0x60C1:01, 1

1A01:0E

SubIndex 014

14. PDO Mapping entry (object 0x60D1 (DIP Diagnosis Ch.14), entry 0x01 (Wirebreak))

UINT32

RO

0x60D1:01, 1

1A01:0F

SubIndex 015

15. PDO Mapping entry (object 0x60E1 (DIP Diagnosis Ch.15), entry 0x01 (Wirebreak))

UINT32

RO

0x60E1:01, 1

1A01:10

SubIndex 016

16. PDO Mapping entry (object 0x60F1 (DIP Diagnosis Ch.16), entry 0x01 (Wirebreak))

UINT32

RO

0x60F1:01, 1

Index 1A02 DOS TxPDO-Map Diagnosis

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

DOS TxPDO-Map Diagnosis

PDO Mapping TxPDO 3

UINT8

RO

0x20 (32dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6100 (DOS Diagnosis Ch.01), entry 0x01 (Overcurrent))

UINT32

RO

0x6100:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6100 (DOS Diagnosis Ch.01), entry 0x02 (Overload))

UINT32

RO

0x6100:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6100 (DOS Diagnosis Ch.01), entry 0x03 (Open Load))

UINT32

RO

0x6100:03, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6100 (DOS Diagnosis Ch.01), entry 0x04 (Short to 24V))

UINT32

RO

0x6100:04, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6110 (DOS Diagnosis Ch.02), entry 0x01 (Overcurrent))

UINT32

RO

0x6110:01, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6110 (DOS Diagnosis Ch.02), entry 0x02 (Overload))

UINT32

RO

0x6110:02, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6110 (DOS Diagnosis Ch.02), entry 0x03 (Open Load))

UINT32

RO

0x6110:03, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x6110 (DOS Diagnosis Ch.02), entry 0x04 (Short to 24V))

UINT32

RO

0x6110:04, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x6120 (DOS Diagnosis Ch.03), entry 0x01 (Overcurrent))

UINT32

RO

0x6120:01, 1

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x6120 (DOS Diagnosis Ch.03), entry 0x02 (Overload))

UINT32

RO

0x6120:02, 1

1A02:0B

SubIndex 011

11. PDO Mapping entry (object 0x6120 (DOS Diagnosis Ch.03), entry 0x03 (Open Load))

UINT32

RO

0x6120:03, 1

1A02:0C

SubIndex 012

12. PDO Mapping entry (object 0x6120 (DOS Diagnosis Ch.03), entry 0x04 (Short to 24V))

UINT32

RO

0x6120:04, 1

1A02:0D

SubIndex 013

13. PDO Mapping entry (object 0x6130 (DOS Diagnosis Ch.04), entry 0x01 (Overcurrent))

UINT32

RO

0x6130:01, 1

1A02:0E

SubIndex 014

14. PDO Mapping entry (object 0x6130 (DOS Diagnosis Ch.04), entry 0x02 (Overload))

UINT32

RO

0x6130:02, 1

1A02:0F

SubIndex 015

15. PDO Mapping entry (object 0x6130 (DOS Diagnosis Ch.04), entry 0x03 (Open Load))

UINT32

RO

0x6130:03, 1

1A02:10

SubIndex 016

16. PDO Mapping entry (object 0x6130 (DOS Diagnosis Ch.04), entry 0x04 (Short to 24V))

UINT32

RO

0x6130:04, 1

1A02:11

SubIndex 017

17. PDO Mapping entry (object 0x6140 (DOS Diagnosis Ch.05), entry 0x01 (Overcurrent))

UINT32

RO

0x6140:01, 1

1A02:12

SubIndex 018

18. PDO Mapping entry (object 0x6140 (DOS Diagnosis Ch.05), entry 0x02 (Overload))

UINT32

RO

0x6140:02, 1

1A02:13

SubIndex 019

19. PDO Mapping entry (object 0x6140 (DOS Diagnosis Ch.05), entry 0x03 (Open Load))

UINT32

RO

0x6140:03, 1

1A02:14

SubIndex 020

20. PDO Mapping entry (object 0x6140 (DOS Diagnosis Ch.05), entry 0x04 (Short to 24V))

UINT32

RO

0x6140:04, 1

1A02:15

SubIndex 021

21. PDO Mapping entry (object 0x6150 (DOS Diagnosis Ch.06), entry 0x01 (Overcurrent))

UINT32

RO

0x6150:01, 1

1A02:16

SubIndex 022

22. PDO Mapping entry (object 0x6150 (DOS Diagnosis Ch.06), entry 0x02 (Overload))

UINT32

RO

0x6150:02, 1

1A02:17

SubIndex 023

23. PDO Mapping entry (object 0x6150 (DOS Diagnosis Ch.06), entry 0x03 (Open Load))

UINT32

RO

0x6150:03, 1

1A02:18

SubIndex 024

24. PDO Mapping entry (object 0x6150 (DOS Diagnosis Ch.06), entry 0x04 (Short to 24V))

UINT32

RO

0x6150:04, 1

1A02:19

SubIndex 025

25. PDO Mapping entry (object 0x6160 (DOS Diagnosis Ch.07), entry 0x01 (Overcurrent))

UINT32

RO

0x6160:01, 1

1A02:1A

SubIndex 026

26. PDO Mapping entry (object 0x6160 (DOS Diagnosis Ch.07), entry 0x02 (Overload))

UINT32

RO

0x6160:02, 1

1A02:1B

SubIndex 027

27. PDO Mapping entry (object 0x6160 (DOS Diagnosis Ch.07), entry 0x03 (Open Load))

UINT32

RO

0x6160:03, 1

1A02:1C

SubIndex 028

28. PDO Mapping entry (object 0x6160 (DOS Diagnosis Ch.07), entry 0x04 (Short to 24V))

UINT32

RO

0x6160:04, 1

1A02:1D

SubIndex 029

29. PDO Mapping entry (object 0x6170 (DOS Diagnosis Ch.08), entry 0x01 (Overcurrent))

UINT32

RO

0x6170:01, 1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:1E

SubIndex 030

30. PDO Mapping entry (object 0x6170 (DOS Diagnosis Ch.08), entry 0x02 (Overload))

UINT32

RO

0x6170:02, 1

1A02:1F

SubIndex 031

31. PDO Mapping entry (object 0x6170 (DOS Diagnosis Ch.08), entry 0x03 (Open Load))

UINT32

RO

0x6170:03, 1

1A02:20

SubIndex 032

32. PDO Mapping entry (object 0x6170 (DOS Diagnosis Ch.08), entry 0x04 (Short to 24V))

UINT32

RO

0x6170:04, 1

Index 1A03 DEV TxPDO-Map Inputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

DEV TxPDO-Map Inputs Device

PDO Mapping TxPDO 4

UINT8

RO

0x07 (7dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0xF600 (DEV Inputs), entry 0x01 (Undervoltage Us))

UINT32

RO

0xF600:01, 1

1A03:02

SubIndex 002

2. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (object 0xF600 (DEV Inputs), entry 0x03 (Overtemperature))

UINT32

RO

0xF600:03, 1

1A03:04

SubIndex 004

4. PDO Mapping entry (9 bits align)

UINT32

RO

0x0000:00, 9

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0xF600 (DEV Inputs), entry 0x0D (Diag))

UINT32

RO

0xF600:0D, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (object 0xF600 (DEV Inputs), entry 0x0E (TxPDO State))

UINT32

RO

0xF600:0E, 1

1A03:07

SubIndex 007

7. PDO Mapping entry (object 0xF600 (DEV Inputs), entry 0x0F (Input cycle counter))

UINT32

RO

0xF600:0F, 2

Index 1A04 DIP TxPDO-Map Extended Diagnosis

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

DIP TxPDO-Map Extended Diagnosis

PDO Mapping TxPDO 5

UINT8

RO

0x20 (32dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (DIP Diagnosis Ch.01), entry 0x01 (Wirebreak))

UINT32

RO

0x6001:01, 1

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6001 (DIP Diagnosis Ch.01), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6001:03, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (object 0x6011 (DIP Diagnosis Ch.02), entry 0x01 (Wirebreak))

UINT32

RO

0x6011:01, 1

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6011 (DIP Diagnosis Ch.02), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6011:03, 1

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6021 (DIP Diagnosis Ch.03), entry 0x01 (Wirebreak))

UINT32

RO

0x6021:01, 1

1A04:06

SubIndex 006

6. PDO Mapping entry (object 0x6021 (DIP Diagnosis Ch.03), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6021:03, 1

1A04:07

SubIndex 007

7. PDO Mapping entry (object 0x6031 (DIP Diagnosis Ch.04), entry 0x01 (Wirebreak))

UINT32

RO

0x6031:01, 1

1A04:08

SubIndex 008

8. PDO Mapping entry (object 0x6031 (DIP Diagnosis Ch.04), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6031:03, 1

1A04:09

SubIndex 009

9. PDO Mapping entry (object 0x6041 (DIP Diagnosis Ch.05), entry 0x01 (Wirebreak))

UINT32

RO

0x6041:01, 1

1A04:0A

SubIndex 010

10. PDO Mapping entry (object 0x6041 (DIP Diagnosis Ch.05), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6041:03, 1

1A04:0B

SubIndex 011

11. PDO Mapping entry (object 0x6051 (DIP Diagnosis Ch.06), entry 0x01 (Wirebreak))

UINT32

RO

0x6051:01, 1

1A04:0C

SubIndex 012

12. PDO Mapping entry (object 0x6051 (DIP Diagnosis Ch.06), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6051:03, 1

1A04:0D

SubIndex 013

13. PDO Mapping entry (object 0x6061 (DIP Diagnosis Ch.07), entry 0x01 (Wirebreak))

UINT32

RO

0x6061:01, 1

1A04:0E

SubIndex 014

14. PDO Mapping entry (object 0x6061 (DIP Diagnosis Ch.07), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6061:03, 1

1A04:0F

SubIndex 015

15. PDO Mapping entry (object 0x6071 (DIP Diagnosis Ch.08), entry 0x01 (Wirebreak))

UINT32

RO

0x6071:01, 1

1A04:10

SubIndex 016

16. PDO Mapping entry (object 0x6071 (DIP Diagnosis Ch.08), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6071:03, 1

1A04:11

SubIndex 017

17. PDO Mapping entry (object 0x6081 (DIP Diagnosis Ch.09), entry 0x01 (Wirebreak))

UINT32

RO

0x6081:01, 1

1A04:12

SubIndex 018

18. PDO Mapping entry (object 0x6081 (DIP Diagnosis Ch.09), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6081:03, 1

1A04:13

SubIndex 019

19. PDO Mapping entry (object 0x6091 (DIP Diagnosis Ch.10), entry 0x01 (Wirebreak))

UINT32

RO

0x6091:01, 1

1A04:14

SubIndex 020

20. PDO Mapping entry (object 0x6091 (DIP Diagnosis Ch.10), entry 0x03 (Power Supply Missing))

UINT32

RO

0x6091:03, 1

1A04:15

SubIndex 021

21. PDO Mapping entry (object 0x60A1 (DIP Diagnosis Ch.11), entry 0x01 (Wirebreak))

UINT32

RO

0x60A1:01, 1

1A04:16

SubIndex 022

22. PDO Mapping entry (object 0x60A1 (DIP Diagnosis Ch.11), entry 0x03 (Power Supply Missing))

UINT32

RO

0x60A1:03, 1

1A04:17

SubIndex 023

23. PDO Mapping entry (object 0x60B1 (DIP Diagnosis Ch.12), entry 0x01 (Wirebreak))

UINT32

RO

0x60B1:01, 1

1A04:18

SubIndex 024

24. PDO Mapping entry (object 0x60B1 (DIP Diagnosis Ch.12), entry 0x03 (Power Supply Missing))

UINT32

RO

0x60B1:03, 1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:19

SubIndex 025

25. PDO Mapping entry (object 0x60C1 (DIP Diagnosis Ch.13), entry 0x01 (Wirebreak))

UINT32

RO

0x60C1:01, 1

1A04:1A

SubIndex 026

26. PDO Mapping entry (object 0x60C1 (DIP Diagnosis Ch.13), entry 0x03 (Power Supply Missing))

UINT32

RO

0x60C1:03, 1

1A04:1B

SubIndex 027

27. PDO Mapping entry (object 0x60D1 (DIP Diagnosis Ch.14), entry 0x01 (Wirebreak))

UINT32

RO

0x60D1:01, 1

1A04:1C

SubIndex 028

28. PDO Mapping entry (object 0x60D1 (DIP Diagnosis Ch.14), entry 0x03 (Power Supply Missing))

UINT32

RO

0x60D1:03, 1

1A04:1D

SubIndex 029

29. PDO Mapping entry (object 0x60E1 (DIP Diagnosis Ch.15), entry 0x01 (Wirebreak))

UINT32

RO

0x60E1:01, 1

1A04:1E

SubIndex 030

30. PDO Mapping entry (object 0x60E1 (DIP Diagnosis Ch.15), entry 0x03 (Power Supply Missing))

UINT32

RO

0x60E1:03, 1

1A04:1F

SubIndex 031

31. PDO Mapping entry (object 0x60F1 (DIP Diagnosis Ch.16), entry 0x01 (Wirebreak))

UINT32

RO

0x60F1:01, 1

1A04:20

SubIndex 032

32. PDO Mapping entry (object 0x60F1 (DIP Diagnosis Ch.16), entry 0x03 (Power Supply Missing))

UINT32

RO

0x60F1:03, 1

Index 1C00 Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Using the Sync Managers

UINT8

RO

0x04 (4dec)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1dec)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2dec)

1C00:03

SubIndex 003

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

UINT8

RO

0x03 (3dec)

1C00:04

SubIndex 004

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

UINT8

RO

0x04 (4dec)

Index 1C12 RxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x00 (0dec)

1C12:01

Subindex 001

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

UINT16

RW

0x0000 (0dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x03 (3dec)

1C13:01

Subindex 001

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

UINT16

RW

0x1A00 (6656dec)

1C13:02

Subindex 002

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

UINT16

RW

0x1A01 (6657dec)

1C13:03

Subindex 003

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

UINT16

RW

0x1A03 (6659dec)

1C13:04

Subindex 004

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

UINT16

RW

0x0000 (0dec)

Index 1C32 SM output parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C32:0

SM output parameter

Synchronization parameters for the outputs

UINT8

RO

0x20 (32dec)

1C32:01

Sync mode

Current synchronization mode:

  • 0: Free Run
  • 1: Synchron with SM 2 Event
  • 2: DC-Mode - Synchron with SYNC0 Event
  • 3: DC-Mode - Synchron with SYNC1 Event

UINT16

RW

0x0000 (0dec)

1C32:02

Cycle time

Cycle time (in ns):

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

UINT32

RW

0x00000000 (0dec)

1C32:03

Shift time

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

UINT32

RO

0x00000000 (0dec)

1C32:04

Sync modes supported

Supported synchronization modes:

  • Bit 0 = 1: Free Run is supported
  • Bit 1 = 1: Synchron with SM 2 Event is supported
  • Bit 2-3 = 01: DC-Mode is supported
  • Bit 4-5 = 10: Output Shift with SYNC1 Event (only DC mode)
  • Bit 14 = 1: dynamic times (measurement through writing of 1C32:08)

UINT16

RO

0x440B (17419dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x00000000 (0dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C32:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C32:08

Get Cycle Time

Possible values:

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

The parameters 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, 1C33:09 are updated with the maximum measured values.
When measuring again, the measured values will be reset.

UINT16

RW

0x0000 (0dec)

1C32:09

Maximum delay time

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

UINT32

RO

0x00000000 (0dec)

1C32:0B

SM event missed counter

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

UINT16

RO

0x0000 (0dec)

1C32:0C

Cycle exceeded counter

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

UINT16

RO

0x0000 (0dec)

1C32:0D

Shift too short counter

Number of occasions that the interval between SYNC0 and SYNC1 event was too short (DC mode only)

UINT16

RO

0x0000 (0dec)

1C32:20

Sync error

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

BOOLEAN

RO

0x00 (0dec)

Index 1C33 SM input parameter

Index (hex)

Name

Meaning

Data type

Flags

Default

1C33:0

SM input parameter

Synchronization parameters for the inputs

UINT8

RO

0x20 (32dec)

1C33:01

Sync mode

Current synchronization mode:

  • 0: Free Run
  • 1: Synchron with SM 3 Event (no outputs available)
  • 2: DC - Synchron with SYNC0 Event
  • 3: DC - Synchron with SYNC1 Event
  • 34: Synchron with SM 2 Event (outputs available)

UINT16

RW

0x0001 (1dec)

1C33:02

Cycle time

as 1C32:02

UINT32

RW

0x000F4240 (1000000dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0dec)

1C33:04

Sync modes supported

Supported synchronization modes:

  • Bit 0: Free Run is supported
  • Bit 1: Synchron with SM 2 Event is supported (outputs available)
  • Bit 1: Synchron with SM 3 Event is supported (no outputs available)
  • Bit 2-3 = 01: DC-Mode is supported
  • Bit 4-5 = 01: Input shift through local event (outputs available)
  • Bit 4-5 = 10: Input shift with SYNC1 event (no outputs available)
  • Bit 14 = 1: dynamic times (measurement through writing of 1C32:08 or 1C33:08)

UINT16

RO

0x440B (17419dec)

1C33:05

Minimum cycle time

as 1C32:05

UINT32

RO

0x000249F0 (150000dec)

1C33:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C33:08

Get Cycle Time

as 1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

Maximum delay time

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

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

as 1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 1C32:32

BOOLEAN

RO

0x00 (0dec)