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 slave

STRING

RO

EP9224-0037

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

07

Index 100B Bootloader version

Index (hex)

Name

Meaning

Data type

Flags

Default

100B:0

Bootloader version

 

STRING

RO

N/A

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

0x24084052 (604520530dec)

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 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 1600 DPO RxPDO-Map Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

DPO RxPDO-Map Outputs Ch.1

PDO Mapping RxPDO 1

UINT8

RO

0x06 (6dec)

1600:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (DPO Outputs Ch.1), entry 0x01 (Output Us))

UINT32

RO

0x7000:01, 1

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (DPO Outputs Ch.1), entry 0x02 (Output Up))

UINT32

RO

0x7000:02, 1

1600:03

SubIndex 003

3. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (DPO Outputs Ch.1), entry 0x05 (Reset Us))

UINT32

RO

0x7000:05, 1

1600:05

SubIndex 005

5. PDO Mapping entry (object 0x7000 (DPO Outputs Ch.1), entry 0x06 (Reset Up))

UINT32

RO

0x7000:06, 1

1600:06

SubIndex 006

6. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

Index 1601 DPO RxPDO-Map Extended Diag Outputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1601:0

DPO RxPDO-Map Extended Diag Outputs Ch.1

PDO Mapping RxPDO 2

UINT8

RO

0x02 (2dec)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (DPO Outputs Ch.1), entry 0x11 (Reset Extended Diag Data))

UINT32

RO

0x7000:11, 1

1601:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

Index 1602 DPO RxPDO-Map Outputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1602:0

DPO RxPDO-Map Outputs Ch.2

PDO Mapping RxPDO 3

UINT8

RO

0x06 (6dec)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DPO Outputs Ch.2), entry 0x01 (Output Us))

UINT32

RO

0x7010:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (DPO Outputs Ch.2), entry 0x02 (Output Up))

UINT32

RO

0x7010:02, 1

1602:03

SubIndex 003

3. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1602:04

SubIndex 004

4. PDO Mapping entry (object 0x7010 (DPO Outputs Ch.2), entry 0x05 (Reset Us))

UINT32

RO

0x7010:05, 1

1602:05

SubIndex 005

5. PDO Mapping entry (object 0x7010 (DPO Outputs Ch.2), entry 0x06 (Reset Up))

UINT32

RO

0x7010:06, 1

1602:06

SubIndex 006

6. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

Index 1603 DPO RxPDO-Map Extended Diag Outputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1603:0

DPO RxPDO-Map Extended Diag Outputs Ch.2

PDO Mapping RxPDO 4

UINT8

RO

0x02 (2dec)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (DPO Outputs Ch.2), entry 0x11 (Reset Extended Diag Data))

UINT32

RO

0x7010:11, 1

1603:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

Index 1604 DPO RxPDO-Map Outputs Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1604:0

DPO RxPDO-Map Outputs Ch.3

PDO Mapping RxPDO 5

UINT8

RO

0x06 (6dec)

1604:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (DPO Outputs Ch.3), entry 0x01 (Output Us))

UINT32

RO

0x7020:01, 1

1604:02

SubIndex 002

2. PDO Mapping entry (object 0x7020 (DPO Outputs Ch.3), entry 0x02 (Output Up))

UINT32

RO

0x7020:02, 1

1604:03

SubIndex 003

3. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1604:04

SubIndex 004

4. PDO Mapping entry (object 0x7020 (DPO Outputs Ch.3), entry 0x05 (Reset Us))

UINT32

RO

0x7020:05, 1

1604:05

SubIndex 005

5. PDO Mapping entry (object 0x7020 (DPO Outputs Ch.3), entry 0x06 (Reset Up))

UINT32

RO

0x7020:06, 1

1604:06

SubIndex 006

6. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

Index 1605 DPO RxPDO-Map Extended Diag Outputs Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1605:0

DPO RxPDO-Map Extended Diag Outputs Ch.3

PDO Mapping RxPDO 6

UINT8

RO

0x02 (2dec)

1605:01

SubIndex 001

1. PDO Mapping entry (object 0x7020 (DPO Outputs Ch.3), entry 0x11 (Reset Extended Diag Data))

UINT32

RO

0x7020:11, 1

1605:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

Index 1606 DPO RxPDO-Map Outputs Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1606:0

DPO RxPDO-Map Outputs Ch.4

PDO Mapping RxPDO 7

UINT8

RO

0x06 (6dec)

1606:01

SubIndex 001

1. PDO Mapping entry (object 0x7030 (DPO Outputs Ch.4), entry 0x01 (Output Us))

UINT32

RO

0x7030:01, 1

1606:02

SubIndex 002

2. PDO Mapping entry (object 0x7030 (DPO Outputs Ch.4), entry 0x02 (Output Up))

UINT32

RO

0x7030:02, 1

1606:03

SubIndex 003

3. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1606:04

SubIndex 004

4. PDO Mapping entry (object 0x7030 (DPO Outputs Ch.4), entry 0x05 (Reset Us))

UINT32

RO

0x7030:05, 1

1606:05

SubIndex 005

5. PDO Mapping entry (object 0x7030 (DPO Outputs Ch.4), entry 0x06 (Reset Up))

UINT32

RO

0x7030:06, 1

1606:06

SubIndex 006

6. PDO Mapping entry (10 bits align)

UINT32

RO

0x0000:00, 10

Index 1607 DPO RxPDO-Map Extended Diag Outputs Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1607:0

DPO RxPDO-Map Extended Diag Outputs Ch.4

PDO Mapping RxPDO 8

UINT8

RO

0x02 (2dec)

1607:01

SubIndex 001

1. PDO Mapping entry (object 0x7030 (DPO Outputs Ch.4), entry 0x11 (Reset Extended Diag Data))

UINT32

RO

0x7030:11, 1

1607:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

Index 1608 DPO RxPDO-Map Outputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1608:0

DPO RxPDO-Map Outputs Device

PDO Mapping RxPDO 9

UINT8

RO

0x04 (4dec)

1608:01

SubIndex 001

1. PDO Mapping entry (object 0xF707 (DPO Outputs Device), entry 0x01 (Enable Control Via Fieldbus))

UINT32

RO

0xF707:01, 1

1608:02

SubIndex 002

2. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1608:03

SubIndex 003

3. PDO Mapping entry (object 0xF707 (DPO Outputs Device), entry 0x04 (Global Reset))

UINT32

RO

0xF707:04, 1

1608:04

SubIndex 004

4. PDO Mapping entry (12 bits align)

UINT32

RO

0x0000:00, 12

Index 1609 DPO RxPDO-Map Extended Diag Outputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1609:0

DPO RxPDO-Map Extended Diag Outputs Device

PDO Mapping RxPDO 10

UINT8

RO

0x02 (2dec)

1609:01

SubIndex 001

1. PDO Mapping entry (object 0xF707 (DPO Outputs Device), entry 0x11 (Reset Extended Diag Data))

UINT32

RO

0xF707:11, 1

1609:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

Index 1610 LOG RxPDO-Map Control

Index (hex)

Name

Meaning

Data type

Flags

Default

1610:0

LOG RxPDO-Map Control

PDO Mapping RxPDO 17

UINT8

RO

0x03 (3dec)

1610:01

SubIndex 001

1. PDO Mapping entry (object 0x7040 (LOG Control), entry 0x01 (Start Logger))

UINT32

RO

0x7040:01, 1

1610:02

SubIndex 002

2. PDO Mapping entry (object 0x7040 (LOG Control), entry 0x02 (Stop Logger))

UINT32

RO

0x7040:02, 1

1610:03

SubIndex 003

3. PDO Mapping entry (14 bits align)

UINT32

RO

0x0000:00, 14

Index 1A00 DPO TxPDO-Map Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

DPO TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x0E (14dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x01 (Error Us))

UINT32

RO

0x6000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x02 (Error Up))

UINT32

RO

0x6000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x03 (Warning Us))

UINT32

RO

0x6000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x04 (Warning Up))

UINT32

RO

0x6000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x05 (Status Us))

UINT32

RO

0x6000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x06 (Status Up))

UINT32

RO

0x6000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x07 (Channel Error))

UINT32

RO

0x6000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x08 (Error Sum Current))

UINT32

RO

0x6000:08, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x09 (Warning Sum Current))

UINT32

RO

0x6000:09, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x0F (TxPDO State))

UINT32

RO

0x6000:0F, 1

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6000:10, 1

1A00:0D

SubIndex 013

13. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x11 (Current Us))

UINT32

RO

0x6000:11, 16

1A00:0E

SubIndex 014

14. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x12 (Current Up))

UINT32

RO

0x6000:12, 16

Index 1A01 DPO TxPDO-Map Extended Diag Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

DPO TxPDO-Map Extended Diag Inputs Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x04 (4dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x13 (Peak Value 1))

UINT32

RO

0x6000:13, 16

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x14 (Peak Value 2))

UINT32

RO

0x6000:14, 16

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x17 (Timestamp 1))

UINT32

RO

0x6000:17, 64

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x18 (Timestamp 2))

UINT32

RO

0x6000:18, 64

Index 1A02 DPO TxPDO-Map Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

DPO TxPDO-Map Inputs Ch.2

PDO Mapping TxPDO 3

UINT8

RO

0x0E (14dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x01 (Error Us))

UINT32

RO

0x6010:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x02 (Error Up))

UINT32

RO

0x6010:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x03 (Warning Us))

UINT32

RO

0x6010:03, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x04 (Warning Up))

UINT32

RO

0x6010:04, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x05 (Status Us))

UINT32

RO

0x6010:05, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x06 (Status Up))

UINT32

RO

0x6010:06, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x07 (Channel Error))

UINT32

RO

0x6010:07, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x08 (Error Sum Current))

UINT32

RO

0x6010:08, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x09 (Warning Sum Current))

UINT32

RO

0x6010:09, 1

1A02:0A

SubIndex 010

10. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A02:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x0F (TxPDO State))

UINT32

RO

0x6010:0F, 1

1A02:0C

SubIndex 012

12. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6010:10, 1

1A02:0D

SubIndex 013

13. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x11 (Current Us))

UINT32

RO

0x6010:11, 16

1A02:0E

SubIndex 014

14. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x12 (Current Up))

UINT32

RO

0x6010:12, 16

Index 1A03 DPO TxPDO-Map Extended Diag Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

DPO TxPDO-Map Extended Diag Inputs Ch.2

PDO Mapping TxPDO 4

UINT8

RO

0x04 (4dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x13 (Peak Value 1))

UINT32

RO

0x6010:13, 16

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x14 (Peak Value 2))

UINT32

RO

0x6010:14, 16

1A03:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x17 (Timestamp 1))

UINT32

RO

0x6010:17, 64

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x18 (Timestamp 2))

UINT32

RO

0x6010:18, 64

Index 1A04 DPO TxPDO-Map Inputs Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

DPO TxPDO-Map Inputs Ch.3

PDO Mapping TxPDO 5

UINT8

RO

0x0E (14dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x01 (Error Us))

UINT32

RO

0x6020:01, 1

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x02 (Error Up))

UINT32

RO

0x6020:02, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x03 (Warning Us))

UINT32

RO

0x6020:03, 1

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x04 (Warning Up))

UINT32

RO

0x6020:04, 1

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x05 (Status Us))

UINT32

RO

0x6020:05, 1

1A04:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x06 (Status Up))

UINT32

RO

0x6020:06, 1

1A04:07

SubIndex 007

7. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x07 (Channel Error))

UINT32

RO

0x6020:07, 1

1A04:08

SubIndex 008

8. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x08 (Error Sum Current))

UINT32

RO

0x6020:08, 1

1A04:09

SubIndex 009

9. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x09 (Warning Sum Current))

UINT32

RO

0x6020:09, 1

1A04:0A

SubIndex 010

10. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A04:0B

SubIndex 011

11. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x0F (TxPDO State))

UINT32

RO

0x6020:0F, 1

1A04:0C

SubIndex 012

12. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6020:10, 1

1A04:0D

SubIndex 013

13. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x11 (Current Us))

UINT32

RO

0x6020:11, 16

1A04:0E

SubIndex 014

14. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x12 (Current Up))

UINT32

RO

0x6020:12, 16

Index 1A05 DPO TxPDO-Map Extended Diag Inputs Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

DPO TxPDO-Map Extended Diag Inputs Ch.3

PDO Mapping TxPDO 6

UINT8

RO

0x04 (4dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x13 (Peak Value 1))

UINT32

RO

0x6020:13, 16

1A05:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x14 (Peak Value 2))

UINT32

RO

0x6020:14, 16

1A05:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x17 (Timestamp 1))

UINT32

RO

0x6020:17, 64

1A05:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x18 (Timestamp 2))

UINT32

RO

0x6020:18, 64

Index 1A06 DPO TxPDO-Map Inputs Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A06:0

DPO TxPDO-Map Inputs Ch.4

PDO Mapping TxPDO 7

UINT8

RO

0x0E (14dec)

1A06:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x01 (Error Us))

UINT32

RO

0x6030:01, 1

1A06:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x02 (Error Up))

UINT32

RO

0x6030:02, 1

1A06:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x03 (Warning Us))

UINT32

RO

0x6030:03, 1

1A06:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x04 (Warning Up))

UINT32

RO

0x6030:04, 1

1A06:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x05 (Status Us))

UINT32

RO

0x6030:05, 1

1A06:06

SubIndex 006

6. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x06 (Status Up))

UINT32

RO

0x6030:06, 1

1A06:07

SubIndex 007

7. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x07 (Channel Error))

UINT32

RO

0x6030:07, 1

1A06:08

SubIndex 008

8. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x08 (Error Sum Current))

UINT32

RO

0x6030:08, 1

1A06:09

SubIndex 009

9. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x09 (Warning Sum Current))

UINT32

RO

0x6030:09, 1

1A06:0A

SubIndex 010

10. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A06:0B

SubIndex 011

11. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x0F (TxPDO State))

UINT32

RO

0x6030:0F, 1

1A06:0C

SubIndex 012

12. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6030:10, 1

1A06:0D

SubIndex 013

13. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x11 (Current Us))

UINT32

RO

0x6030:11, 16

1A06:0E

SubIndex 014

14. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x12 (Current Up))

UINT32

RO

0x6030:12, 16

Index 1A07 DPO TxPDO-Map Extended Diag Inputs Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A07:0

DPO TxPDO-Map Extended Diag Inputs Ch.4

PDO Mapping TxPDO 8

UINT8

RO

0x04 (4dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x13 (Peak Value 1))

UINT32

RO

0x6030:13, 16

1A07:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x14 (Peak Value 2))

UINT32

RO

0x6030:14, 16

1A07:03

SubIndex 003

3. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x17 (Timestamp 1))

UINT32

RO

0x6030:17, 64

1A07:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x18 (Timestamp 2))

UINT32

RO

0x6030:18, 64

Index 1A08 DPO TxPDO-Map Inputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1A08:0

DPO TxPDO-Map Inputs Device

PDO Mapping TxPDO 9

UINT8

RO

0x11 (17dec)

1A08:01

SubIndex 001

1. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x01 (Temperature Warning))

UINT32

RO

0xF607:01, 1

1A08:02

SubIndex 002

2. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x02 (Temperature Error))

UINT32

RO

0xF607:02, 1

1A08:03

SubIndex 003

3. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x03 (Us Warning))

UINT32

RO

0xF607:03, 1

1A08:04

SubIndex 004

4. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x04 (Us Error))

UINT32

RO

0xF607:04, 1

1A08:05

SubIndex 005

5. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x05 (Up Warning))

UINT32

RO

0xF607:05, 1

1A08:06

SubIndex 006

6. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x06 (Up Error))

UINT32

RO

0xF607:06, 1

1A08:07

SubIndex 007

7. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x07 (Global Error Bit))

UINT32

RO

0xF607:07, 1

1A08:08

SubIndex 008

8. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x08 (Sum Current Warning))

UINT32

RO

0xF607:08, 1

1A08:09

SubIndex 009

9. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x09 (Sum Current Error))

UINT32

RO

0xF607:09, 1

1A08:0A

SubIndex 010

10. PDO Mapping entry (5 bits align)

UINT32

RO

0x0000:00, 5

1A08:0B

SubIndex 011

11. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x0F (TxPDO State))

UINT32

RO

0xF607:0F, 1

1A08:0C

SubIndex 012

12. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x10 (TxPDO Toggle))

UINT32

RO

0xF607:10, 1

1A08:0D

SubIndex 013

13. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x11 (Current Us))

UINT32

RO

0xF607:11, 16

1A08:0E

SubIndex 014

14. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x12 (Current Up))

UINT32

RO

0xF607:12, 16

1A08:0F

SubIndex 015

15. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x13 (Voltage Us))

UINT32

RO

0xF607:13, 16

1A08:10

SubIndex 016

16. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x14 (Voltage Up))

UINT32

RO

0xF607:14, 16

1A08:11

SubIndex 017

17. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x15 (Temperature))

UINT32

RO

0xF607:15, 16

Index 1A09 DPO TxPDO-Map Extended Diag Inputs Device

Index (hex)

Name

Meaning

Data type

Flags

Default

1A09:0

DPO TxPDO-Map Extended Diag Inputs Device

PDO Mapping TxPDO 10

UINT8

RO

0x04 (4dec)

1A09:01

SubIndex 001

1. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x16 (Peak Value 1))

UINT32

RO

0xF607:16, 16

1A09:02

SubIndex 002

2. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x17 (Peak Value 2))

UINT32

RO

0xF607:17, 16

1A09:03

SubIndex 003

3. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x18 (Timestamp 1))

UINT32

RO

0xF607:18, 64

1A09:04

SubIndex 004

4. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x19 (Timestamp 2))

UINT32

RO

0xF607:19, 64

Index 1A10 LOG TxPDO-Map Status

Index (hex)

Name

Meaning

Data type

Flags

Default

1A10:0

LOG TxPDO-Map Status

PDO Mapping TxPDO 17

UINT8

RO

0x04 (4dec)

1A10:01

SubIndex 001

1. PDO Mapping entry (object 0x6040 (LOG Status), entry 0x01 (Logger Running))

UINT32

RO

0x6040:01, 1

1A10:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

1A10:03

SubIndex 003

3. PDO Mapping entry (object 0x6040 (LOG Status), entry 0x11 (Elapsed Time))

UINT32

RO

0x6040:11, 32

1A10:04

SubIndex 004

4. PDO Mapping entry (object 0x6040 (LOG Status), entry 0x12 (Trigger Reason))

UINT32

RO

0x6040:12, 16

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

0x05 (5dec)

1C12:01

Subindex 001

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

UINT16

RW

0x1600 (5632dec)

1C12:02

Subindex 002

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

UINT16

RW

0x1602 (5634dec)

1C12:03

Subindex 003

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

UINT16

RW

0x1604 (5636dec)

1C12:04

Subindex 004

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

UINT16

RW

0x1606 (5638dec)

1C12:05

Subindex 005

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

UINT16

RW

0x1608 (5640dec)

1C12:06

Subindex 006

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

UINT16

RW

0x0000 (0dec)

1C12:07

Subindex 007

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

UINT16

RW

0x0000 (0dec)

1C12:08

Subindex 008

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

UINT16

RW

0x0000 (0dec)

1C12:09

Subindex 009

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

UINT16

RW

0x0000 (0dec)

1C12:0A

Subindex 010

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

UINT16

RW

0x0000 (0dec)

1C12:0B

Subindex 011

11. 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

0x05 (5dec)

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

0x1A02 (6658dec)

1C13:03

Subindex 003

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

UINT16

RW

0x1A04 (6660dec)

1C13:04

Subindex 004

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

UINT16

RW

0x1A06 (6662dec)

1C13:05

Subindex 005

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

UINT16

RW

0x1A08 (6664dec)

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)

1C13:0A

Subindex 010

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

UINT16

RW

0x0000 (0dec)

1C13:0B

Subindex 011

11. 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

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: 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

0x0001 (1dec)

1C32:05

Minimum cycle time

Minimum cycle time (in ns)

UINT32

RO

0x000F4240 (1000000dec)

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: Stop measurement of the local cycle time
  • 1: Start measurement of the local cycle time

The parameters 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 (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

0x0000 (0dec)

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

0x0001 (1dec)

1C33:05

Minimum cycle time

as 1C32:05

UINT32

RO

0x000F4240 (1000000dec)

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

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, only DC mode)

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)