Standard objects (0x1000 .. 0x1FFF)

The standard objects have the same meaning for all EtherCAT slaves.

Index 1000 Device type

Index (hex)

Name

Meaning

Data type

Flags

Default

1000:0

Device type

Device type of the EtherCAT slave: The Lo-Word contains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.

UINT32

RO

0x00001389 (5001dec)

Index 1008 Device name

Index (hex)

Name

Meaning

Data type

Flags

Default

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EP7041-3002

Index 1009 Hardware version

Index (hex)

Name

Meaning

Data type

Flags

Default

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

Index 100A Software version

Index (hex)

Name

Meaning

Data type

Flags

Default

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

02

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

0x1B814052 (461455442dec)

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

0x00100BBA (1051578dec)

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 10F0 Backup parameter handling

Index (hex)

Name

Meaning

Data type

Flags

Default

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

0x01 (1dec)

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0dec)

Index 10F3 Diagnosis History

Index (hex)

Name

Meaning

Data type

Flags

Default

10F3:0

Diagnosis History

Maximum Subindex

UINT8

RO

0x37 (55dec)

10F3:01

Maximum Messages

Maximum number of stored messages. A maximum of 50 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

not used

UINT16

RW

0x0000 (0dec)

10F3:06

Diagnosis Message 001

Message 1

OCTET-STRING[28]

RO

{0}

...

...

...

...

...

...

10F3:37

Diagnosis Message 050

Message 50

OCTET-STRING[28]

RO

{0}

Index 10F8 Actual Time Stamp

Index (hex)

Name

Meaning

Data type

Flags

Default

10F8:0

Actual Time Stamp

Time stamp

UINT64

RO

 

Index 1400 ENC RxPDO-Par Control compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1400:0

ENC RxPDO-Par Control compact

PDO Parameter RxPDO 1

UINT8

RO

0x06 (6dec)

1400:06

Exclude RxPDOs

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

OCTET-STRING[6]

RO

01 16 00 00 00 00

Index 1401 ENC RxPDO-Par Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1401:0

ENC RxPDO-Par Control

PDO Parameter RxPDO 2

UINT8

RO

0x06 (6dec)

1401:06

Exclude RxPDOs

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

OCTET-STRING[6]

RO

00 16 00 00 00 00

Index 1403 STM RxPDO-Par Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1403:0

STM RxPDO-Par Position

PDO Parameter RxPDO 4

UINT8

RO

0x06 (6dec)

1403:06

Exclude RxPDOs

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

OCTET-STRING[6]

RO

04 16 05 16 06 16

Index 1404 STM RxPDO-Par Velocity

Index (hex)

Name

Meaning

Data type

Flags

Default

1404:0

STM RxPDO-Par Velocity

PDO Parameter RxPDO 5

UINT8

RO

0x06 (6dec)

1404:06

Exclude RxPDOs

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

OCTET-STRING[6]

RO

03 16 05 16 06 16

Index 1405 POS RxPDO-Par Control compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1405:0

POS RxPDO-Par Control compact

PDO Parameter RxPDO 6

UINT8

RO

0x06 (6dec)

1405:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 6

OCTET-STRING[6]

RO

03 16 04 16 06 16

Index 1406 POS RxPDO-Par Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1406:0

POS RxPDO-Par Control

PDO Parameter RxPDO 7

UINT8

RO

0x06 (6dec)

1406:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 7

OCTET-STRING[6]

RO

03 16 04 16 05 16

Index 1407 POS RxPDO-Par Control 2

Index (hex)

Name

Meaning

Data type

Flags

Default

1407:0

POS RxPDO-Par Control

PDO Parameter RxPDO 8

UINT8

RO

0x06 (6dez)

1407:06

Exclude RxPDOs

Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 8

OCTET-STRING[6]

RO

03 16 04 16 05 16

Index 1600 ENC RxPDO-Map Control compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

ENC RxPDO-Map Control compact

PDO Mapping RxPDO 1

UINT8

RO

0x07 (7dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x01 (Enable latch C))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x02 (Enable latch extern on positive edge))

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x03 (Set counter))

UINT32

RO

0x7000:03, 1

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x04 (Enable latch extern on negative edge))

UINT32

RO

0x7000:04, 1

1600:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1600:06

SubIndex 006

6. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1600:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x11 (Set counter value))

UINT32

RO

0x7000:11, 16

Index 1601 ENC RxPDO-Map Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

ENC RxPDO-Map Control

PDO Mapping RxPDO 2

UINT8

RO

0x07 (7dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x01 (Enable latch C))

UINT32

RO

0x7000:01, 1

1601:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x02 (Enable latch extern on positive edge))

UINT32

RO

0x7000:02, 1

1601:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x03 (Set counter))

UINT32

RO

0x7000:03, 1

1601:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x04 (Enable latch extern on negative edge))

UINT32

RO

0x7000:04, 1

1601:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

1601:06

SubIndex 006

6. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1601:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (ENC Outputs Ch.1), entry 0x11 (Set counter value))

UINT32

RO

0x7000:11, 32

Index 1602 STM RxPDO-Map Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

STM RxPDO-Map Control

PDO Mapping RxPDO 3

UINT8

RO

0x07 (7dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x01 (Enable))

UINT32

RO

0x7010:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x02 (Reset))

UINT32

RO

0x7010:02, 1

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x03 (Reduce torque))

UINT32

RO

0x7010:03, 1

1602:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1602:05

SubIndex 005

5. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1602:06

SubIndex 006

6. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x0C (Digital output 1))

UINT32

RO

0x7010:0C, 1

1602:07

SubIndex 007

7. PDO Mapping entry (4 bits align)

UINT32

RO

0x0000:00, 4

Index 1603 STM RxPDO-Map Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1603:0

STM RxPDO-Map Position

PDO Mapping RxPDO 4

UINT8

RO

0x01 (1dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x11 (Position))

UINT32

RO

0x7010:11, 32

Index 1604 STM RxPDO-Map Velocity

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

STM RxPDO-Map Velocity

PDO Mapping RxPDO 5

UINT8

RO

0x01 (1dec)

1604:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (STM Outputs Ch.1), entry 0x21 (Velocity))

UINT32

RO

0x7010:21, 16

Index 1605 POS RxPDO-Map Control compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

POS RxPDO-Map Control compact

PDO Mapping RxPDO 6

UINT8

RO

0x05 (5dec)

1605:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x01 (Execute))

UINT32

RO

0x7020:01, 1

1605:02

SubIndex 002

2. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x02 (Emergency stop))

UINT32

RO

0x7020:02, 1

1605:03

SubIndex 003

3. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

1605:04

SubIndex 004

4. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1605:05

SubIndex 005

5. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x11 (Target position))

UINT32

RO

0x7020:11, 32

Index 1606 POS RxPDO-Map Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1606:0

POS RxPDO-Map Control

PDO Mapping RxPDO 7

UINT8

RO

0x09 (9dec)

1606:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x01 (Execute))

UINT32

RO

0x7020:01, 1

1606:02

SubIndex 002

2. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x02 (Emergency stop))

UINT32

RO

0x7020:02, 1

1606:03

SubIndex 003

3. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

1606:04

SubIndex 004

4. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1606:05

SubIndex 005

5. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x11 (Target position))

UINT32

RO

0x7020:11, 32

1606:06

SubIndex 006

6. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x21 (Velocity))

UINT32

RO

0x7020:21, 16

1606:07

SubIndex 007

7. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x22 (Start type))

UINT32

RO

0x7020:22, 16

1606:08

SubIndex 008

8. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x23 (Acceleration))

UINT32

RO

0x7020:23, 16

1606:09

SubIndex 009

9. PDO Mapping entry (object 0x7020 (POS Outputs Ch.1), entry 0x24 (Deceleration))

UINT32

RO

0x7020:24, 16

Index 1607 POS RxPDO-Map Control 2

Index (hex)

Name

Meaning

Data type

Flags

Default

1607:0

POS RxPDO-Map Control 2

PDO Mapping RxPDO 8

UINT8

RO

0x09 (9dez)

1607:01

SubIndex 001

1. PDO Mapping entry

UINT32

RO

0x0000:00,2

1607:02

SubIndex 002

2. PDO Mapping entry (object 0x7020 (POS Outputs 2 Ch.1), entry 0x03 (Enable auto start))

UINT32

RO

0x7020:03, 1

1607:03

SubIndex 003

3. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00,5

1607:04

SubIndex 004

4. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1607:05

SubIndex 005

5. PDO Mapping entry (object 0x7021 (POS Outputs 2 Ch.1), entry 0x11 (Target position))

UINT32

RO

0x7021:11, 32

1607:06

SubIndex 006

6. PDO Mapping entry (object 0x7021 (POS Outputs 2 Ch.1), entry 0x21 (Velocity))

UINT32

RO

0x7021:21, 16

1607:07

SubIndex 007

7. PDO Mapping entry (object 0x7021 (POS Outputs 2 Ch.1), entry 0x22 (Start type))

UINT32

RO

0x7021:22, 16

1607:08

SubIndex 008

8. PDO Mapping entry (object 0x7021 (POS Outputs 2 Ch.1), entry 0x23 (Acceleration))

UINT32

RO

0x7021:23, 16

1607:09

SubIndex 009

9. PDO Mapping entry (object 0x7021 (POS Outputs 2 Ch.1), entry 0x24 (Deceleration))

UINT32

RO

0x7021:24, 16

Index 1800 ENC TxPDO-Par Status compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1800:0

ENC TxPDO-Par Status compact

PDO Parameter TxPDO 1

UINT8

RO

0x06 (6dec)

1800:06

Exclude TxPDOs

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

OCTET-STRING[2]

RO

01 1A

Index 1801 ENC TxPDO-Par Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1801:0

ENC TxPDO-Par Status

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

00 1A

Index 1806 POS TxPDO-Par Status compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1806:0

POS TxPDO-Par Status compact

PDO parameter TxPDO 7

UINT8

RO

0x06 (6dec)

1806:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 7

OCTET-STRING[2]

RO

07 1A

Index 1807 POS TxPDO-Par Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1807:0

POS TxPDO-Par Status

PDO parameter TxPDO 8

UINT8

RO

0x06 (6dec)

1807:06

Exclude TxPDOs

Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 8

OCTET-STRING[2]

RO

06 1A

Index 1A00 ENC TxPDO-Map Status compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

ENC TxPDO-Map Status compact

PDO Mapping TxPDO 1

UINT8

RO

0x11 (17dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x01 (Latch C valid))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x02 (Latch extern valid))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x03 (Set counter done))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x04 (Counter underflow))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x05 (Counter overflow))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x08 (Extrapolation stall))

UINT32

RO

0x6000:08, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x09 (Status of input A))

UINT32

RO

0x6000:09, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0A (Status of input B))

UINT32

RO

0x6000:0A, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0B (Status of input C))

UINT32

RO

0x6000:0B, 1

1A00:0B

SubIndex 011

11. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0D (Status of extern latch))

UINT32

RO

0x6000:0D, 1

1A00:0D

SubIndex 013

13. PDO Mapping entry (object 0x1C32 (SM output parameter), entry 0x20 (Sync error))

UINT32

RO

0x1C32:20, 1

1A00:0E

SubIndex 014

14. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A00:0F

SubIndex 015

15. PDO Mapping entry (object 0x1800 (ENC TxPDO-Par Status compact), entry 0x09)

UINT32

RO

0x1800:09, 1

1A00:10

SubIndex 016

16. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 16

1A00:11

SubIndex 017

17. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x12 (Latch value))

UINT32

RO

0x6000:12, 16

Index 1A01 ENC TxPDO-Map Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

ENC TxPDO-Map Status

PDO Mapping TxPDO 2

UINT8

RO

0x11 (17dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x01 (Latch C valid))

UINT32

RO

0x6000:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x02 (Latch extern valid))

UINT32

RO

0x6000:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x03 (Set counter done))

UINT32

RO

0x6000:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x04 (Counter underflow))

UINT32

RO

0x6000:04, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x05 (Counter overflow))

UINT32

RO

0x6000:05, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A01:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x08 (Extrapolation stall))

UINT32

RO

0x6000:08, 1

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x09 (Status of input A))

UINT32

RO

0x6000:09, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0A (Status of input B))

UINT32

RO

0x6000:0A, 1

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0B (Status of input C))

UINT32

RO

0x6000:0B, 1

1A01:0B

SubIndex 011

11. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A01:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x0D (Status of extern latch))

UINT32

RO

0x6000:0D, 1

1A01:0D

SubIndex 013

13. PDO Mapping entry (object 0x1C32 (SM output parameter), entry 0x20 (Sync error))

UINT32

RO

0x1C32:20, 1

1A01:0E

SubIndex 014

14. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A01:0F

SubIndex 015

15. PDO Mapping entry (object 0x1801 (ENC TxPDO-Par Status), entry 0x09)

UINT32

RO

0x1801:09, 1

1A01:10

SubIndex 016

16. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32

1A01:11

SubIndex 017

17. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x12 (Latch value))

UINT32

RO

0x6000:12, 32

Index 1A02 ENC TxPDO-Map Timest. compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

ENC TxPDO-Map Timest. compact

PDO Mapping TxPDO 3

UINT8

RO

0x01 (1dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (ENC Inputs Ch.1), entry 0x16 (Timestamp))

UINT32

RO

0x6000:16, 32

Index 1A03 STM TxPDO-Map Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

STM TxPDO-Map Status

PDO Mapping TxPDO 4

UINT8

RO

0x0E (14dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x01 (Ready to enable))

UINT32

RO

0x6010:01, 1

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x02 (Ready))

UINT32

RO

0x6010:02, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x03 (Warning))

UINT32

RO

0x6010:03, 1

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x04 (Error))

UINT32

RO

0x6010:04, 1

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x05 (Moving positive))

UINT32

RO

0x6010:05, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x06 (Moving negative))

UINT32

RO

0x6010:06, 1

1A03:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x07 (Torque reduced))

UINT32

RO

0x6010:07, 1

1A03:08

SubIndex 008

8. PDO Mapping entry (1 bits align)

UINT32

RO

0x6010:08, 1

1A03:09

SubIndex 009

9. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A03:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x0C (Digital input 1))

UINT32

RO

0x6010:0C, 1

1A03:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x0D (Digital input 2))

UINT32

RO

0x6010:0D, 1

1A03:0C

SubIndex 012

12. PDO Mapping entry (object 0x1C32 (SM output parameter), entry 0x20 (Sync error))

UINT32

RO

0x6010:0E, 1

1A03:0D

SubIndex 013

13. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A03:0E

SubIndex 014

14. PDO Mapping entry (object 0x1803, entry 0x09)

UINT32

RO

0x6010:10, 1

Index 1A04 STM TxPDO-Map Synchron info data

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

STM TxPDO-Map Synchron info data

PDO Mapping TxPDO 5

UINT8

RO

0x02 (2dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x11 (Info data 1))

UINT32

RO

0x6010:11, 16

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (STM Inputs Ch.1), entry 0x12 (Info data 2))

UINT32

RO

0x6010:12, 16

Index 1A05 STM TxPDO-Map Motor load

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

STM TxPDO-Map Motor load

PDO Mapping TxPDO 6

UINT8

RO

0x01 (1dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x01 (Busy))

UINT32

RO

0x6010:13, 16

Index 1A06 POS TxPDO-Map Status compact

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

POS TxPDO-Map Status compact

PDO Mapping TxPDO 7

UINT8

RO

0x09 (9dec)

1A06:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x01 (Busy))

UINT32

RO

0x6020:01, 1

1A06:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x02 (In-Target))

UINT32

RO

0x6020:02, 1

1A06:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x03 (Warning))

UINT32

RO

0x6020:03, 1

1A06:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x04 (Error))

UINT32

RO

0x6020:04, 1

1A06:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x05 (Calibrated))

UINT32

RO

0x6020:05, 1

1A06:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x06 (Accelerate))

UINT32

RO

0x6020:06, 1

1A06:07

SubIndex 007

7. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x07 (Decelerate))

UINT32

RO

0x6020:07, 1

1A06:08

SubIndex 008

8. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x08 (Ready to execute))

UINT32

RO

0x6020:08, 1

1A06:09

SubIndex 009

9. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

Index 1A07 POS TxPDO-Map Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

POS TxPDO-Map Status

PDO Mapping TxPDO 8

UINT8

RO

0x0C (12dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x01 (Busy))

UINT32

RO

0x6020:01, 1

1A07:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x02 (In-Target))

UINT32

RO

0x6020:02, 1

1A07:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x03 (Warning))

UINT32

RO

0x6020:03, 1

1A07:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x04 (Error))

UINT32

RO

0x6020:04, 1

1A07:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x05 (Calibrated))

UINT32

RO

0x6020:05, 1

1A07:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x06 (Accelerate))

UINT32

RO

0x6020:06, 1

1A07:07

SubIndex 007

7. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x07 (Decelerate))

UINT32

RO

0x6020:07, 1

1A07:08

SubIndex 008

8. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1A07:09

SubIndex 009

9. PDO Mapping entry (8 bits align)

UINT32

RO

0x0000:00, 8

1A07:0A

SubIndex 010

10. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x11 (Actual position))

UINT32

RO

0x6020:11, 32

1A07:0B

SubIndex 011

11. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x21 (Actual velocity))

UINT32

RO

0x6020:21, 16

1A07:0C

SubIndex 012

12. PDO Mapping entry (object 0x6020 (POS Inputs Ch.1), entry 0x22 (Actual drive time))

UINT32

RO

0x6020:22, 32

Index 1A08 STM TxPDO-Map Internal Position

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

STM TxPDO-Map Internal Position

PDO Mapping TxPDO 9

UINT8

RO

0x01 (1dec)

1A08:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (STM Inputs Ch. 1), entry 0x14 (Internal Position))

UINT32

RO

0x6010:14, 32

Index 1A09 STM TxPDO-Map External Position

Index (hex)

Name

Bedeutung

Datentyp

Flags

Default

1A09:0

STM TxPDO-Map External Position

PDO Mapping TxPDO 10

UINT8

RO

0x01 (1dec)

1A09:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (STM Inputs Ch. 1), entry 0x15 (External Position))

UINT32

RO

0x6010:15, 32

Index 1A0A POS TxPDO-Map Actual Position lag

Index (hex)

Name

Bedeutung

Datentyp

Flags

Default

1A0A:0

POS TxPDO-Map Actual Position lag

PDO Mapping TxPDO 11

UINT8

RO

0x01 (1dec)

1A0A:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (POS Inputs Ch. 1), entry 0x23 (Actual position lag))

UINT32

RO

0x6020:23, 32

Index 1C00 Sync manager type

Index (hex)

Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Benutzung der Sync Manager

UINT8

RO

0x04 (4dez)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1dez)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2dez)

1C00:03

SubIndex 003

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

UINT8

RO

0x03 (3dez)

1C00:04

SubIndex 004

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

UINT8

RO

0x04 (4dez)

Index 1C12 RxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C12:0

RxPDO assign

PDO Assign Outputs

UINT8

RW

0x03 (3dez)

1C12:01

Subindex 001

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

UINT16

RW

0x1600 (5632dez)

1C12:02

Subindex 002

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

UINT16

RW

0x1602 (5634dez)

1C12:03

Subindex 003

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

UINT16

RW

0x1604 (5636dez)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x02 (2dec)

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

0x1A03 (6659dec)

1C13:03

Subindex 003

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

UINT16

RW

0x0000 (0dec)

1C13:04

Subindex 004

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

UINT16

RW

0x0000 (0dec)

1C13:05

Subindex 005

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

UINT16

RW

0x0000 (0dec)

1C13:06

Subindex 006

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

UINT16

RW

0x0000 (0dec)

1C13:07

Subindex 007

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

UINT16

RW

0x0000 (0dec)

1C13:08

Subindex 008

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

UINT16

RW

0x0000 (0dec)

1C13:09

Subindex 009

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

UINT16

RW

0x0000 (0dec)

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

0x0001 (1dec)

1C32:02

Cycle time

Cycle time (in ns):

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

UINT32

RW

0x000F4240 (1000000dec)

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: Synchronous 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 0x1C32:08)

UINT16

RO

0xC007 (49159dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x0003D090 (250000dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C32:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C32:08

Command

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

The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values.
For a subsequent measurement the measured values are reset

UINT16

RW

0x0000 (0dec)

1C32:09

Maximum delay time

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

UINT32

RO

0x00000000 (0dec)

1C32:0B

SM event missed counter

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

UINT16

RO

0x0000 (0dec)

1C32:0C

Cycle exceeded counter

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

UINT16

RO

0x0000 (0dec)

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: Synchronous with SM 3 Event (no outputs available)
  • 2: DC - Synchron with SYNC0 Event
  • 3: DC - Synchron with SYNC1 Event
  • 34: Synchronous with SM 2 Event (outputs available)

UINT16

RW

0x0022 (34dec)

1C33:02

Cycle time

as 0x1C32:02

UINT32

RW

0x000F4240 (1000000dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0dec)

1C33:04

Sync modes supported

Supported synchronization modes:

  • Bit 0: free run is supported
  • Bit 1: Synchronous with SM 2 Event is supported (outputs available)
  • Bit 1: Synchronous 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 0x1C32:08 or 0x1C33:08)

UINT16

RO

0xC007 (49159dec)

1C33:05

Minimum cycle time

as 0x1C32:05

UINT32

RO

0x0003D090 (250000dec)

1C33:06

Calc and copy time

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

UINT32

RO

0x00000000 (0dec)

1C33:07

Minimum delay time

 

UINT32

RO

0x00000000 (0dec)

1C33:08

Command

as 0x1C32:08

UINT16

RW

0x0000 (0dec)

1C33:09

Maximum delay time

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

UINT32

RO

0x00000000 (0dec)

1C33:0B

SM event missed counter

as 0x1C32:11

UINT16

RO

0x0000 (0dec)

1C33:0C

Cycle exceeded counter

as 0x1C32:12

UINT16

RO

0x0000 (0dec)

1C33:0D

Shift too short counter

as 0x1C32:13

UINT16

RO

0x0000 (0dec)

1C33:20

Sync error

as 0x1C32:32

BOOLEAN

RO

0x00 (0dec)