CoE parameters

1011:0

Restore default parameters

Restore the default settings in the EtherCAT slave

UINT8

RO

0x01 (1_dec)

1011:01

SubIndex 001

If this object is set to "0x64616F6C" ("Set Value Dialog") all terminal/box-specific objects are reset to their delivery state.

UINT32

RW

0x00000000 (0_dec)

8000:0

RMB Settings

Max. subindex

UINT8

RO

0x32 (50_dec)

8000:01

Mode0 enable filter

0: No filters active. The box operates cycle-synchronously

1: The filter settings selected in subindex 0x8000:11 or 0x8000:12 are active.

BOOLEAN

RW

0x01 (1_dec)

8000:02

Mode1 enable filter

BOOLEAN

RW

0x01 (1_dec)

8000:03

Mode0 enable averager

Activate hardware mean value filter

BOOLEAN

RW

0x01 (1_dec)

8000:04

Mode1 enable averager

BOOLEAN

RW

0x01 (1_dec)

8000:05

Symmetric reference potential

Activate symmetric measurement

BOOLEAN

RW

0x01 (1_dec)

8000:11

Mode0 filter settings

0: FIR 50 Hz
1: FIR 60 Hz
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
10: Dynamic IIR
11: PDO Filter frequency
see Filter

UINT16

RW

0x0000 (0_dec)

8000:12

Mode1 filter settings

UINT16

RW

0x0000 (0_dec)

8000:13

Dynamic filter change time

Sampling rate for dynamic filter switching.

Scaling in 0.01 ms (100 = 1 s)

(only if the filters are active and "dynamic IIR" is selected as filter)

UINT16

RW

0x000A (10_dec)

8000:14

Dynamic filter delta

Limit value  for dynamic filter switching.

(only if the filters are active and "dynamic IIR" is selected as filter)

REAL32

RW

0x41A00000 (1101004800_dec) = 20.0

8000:21

Gain

Scaling factor

REAL32

RW

0x3F800000 (1065353216_dec)  = 1.0

8000:22

Tara

Process data value offset

REAL32

RW

0x00000000 (0_dec) = 0.0

8000:23

Rated output

Nominal characteristic value of the sensor element in mV/V

REAL32

RW

0x40000000 (1073741824_dec)  = 2.0

8000:24

Nominal load

Nominal load of the force transducer/load cell/etc. (e.g. in kg or N or ..)

REAL32

RW

0x40A00000 (1084227584_dec) = 5.0

8000:25

Zero balance

Zero point offset in mV/V

REAL32

RW

0x00000000 (0_dec) = 0.0

8000:26

Gravity of earth

Current acceleration of gravity (default 9.806650)

REAL32

RW

0x411CE80A (1092413450_dec) = 9.806650

8000:27

Scale factor

This factor can be used to re-scale the process data. In order to change the display from kg to g, for example, the factor 1000 can be entered here.

REAL32

RW

0x447A0000 (1148846080_dec) = 1000.0

8000:28

Reference load

Reference weight for manual calibration

REAL32

RW

0x40A00000 (1084227584_dec) = 5.0

8000:29

Steady state window

Time constant for the "Steady state" bit (used for idle recognition)

UINT16

RW

0x03E8 (1000_dec)

8000:2A

Steady state tolerance

Tolerance window for the "Steady state" bit

UINT32

RW

0x00000005 (5_dec)

8000:31

Calibration interval

Calibration interval for automatic calibration of the terminal/box.

The unit is 100 ms.

The smallest possible value is 5 (500 ms). A value of 0 deactivates automatic self-calibration. This is also possible via the process data bit "Disable calibration".

UINT16

RW

0x0708 (1800_dec)

8000:32

Test interval

This register contains the test interval for the cyclic self-test of the terminal/box. This interval is always a multiple (default: 10_dec) of the calibration interval (0x8000:31). The test interval when the equipment leaves the factory is therefore 10 x 180 s = 1800 s.

The process data bit "Disable calibration" can be used to deactivate the self-test.

UINT16

RW

0x000A (10_dec)

80n0:0

AI Settings

Max. subindex

UINT8

RO

0x18 (24_dec)

80n0:01

Enable user scale

User scale is enabled, if bit is set

BOOLEAN

RW

0x00 (0_dec)

80n0:06

Enable filter

Activates filter

BOOLEAN

RW

0x01 (1_dec)

80n0:0A

Enable user calibration

User calibration is enabled, if bit is set

BOOLEAN

RW

0x00 (0_dec)

80n0:0B

Enable vendor calibration

Vendor calibration is enabled, if bit is set

BOOLEAN

RW

0x01 (1_dec)

80n0:11

User scale offset

User scale offset

INT32

RW

0x00000000 (0_dec)

80n0:12

User scale gain

User scale gain
The gain is represented in fixed-point format, with the factor 2^-16.
A value of 1 for the gain factor therefore corresponds to 65535_dec (0x00010000_hex) and is limited to 0x7FFFF.

INT32

RW

0x00010000 (65536_dec)

80n0:15

Filter settings

This object defines the digital filter settings, if it is activated with index 0x80n0:06 .

The possible settings are numbered consecutively

 

0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8

UINT16

RW

0x0000 (0_dec)

80n0:17

User calibration offset

User calibration offset

INT32

RW

0x00000000 (0_dec)

80n0:18

User calibration gain

User calibration gain

INT16

RW

0x4000 (16384_dec)

FB00:0

RMB Command

Max. subindex

UINT8

RO

0x03 (3_dec)

FB00:01

Request

Via the request object, commands can be sent to the terminal/box
 Command:

- 0x0101: Zero adjustment

- 0x0102: Calibration

- 0x0001 Tara setting

- 0x0002 Tara setting (Data are saved into the EEPROM)

see commands

OCTET-STRING[2]

RW

{0}

FB00:02

Status

State of the current executed command

0: Command executed without errors

255: Execution of command

UINT8

RO

0x00 (0_dec)

FB00:03

Response

Optional return value of the command

OCTET-STRING[4]

RO

{0}

6000:0

RMB Inputs

Max. subindex

UINT8

RO

0x13 (19_dec)

6000:02

Overrange

The measuring value has reached its terminal/box value

BOOLEAN

RO

0x00 (0_dec)

6000:04

Data invalid

The indicated process data are not valid, e.g. during calibration

BOOLEAN

RO

0x00 (0_dec)

6000:07

Error

An error has occurred

BOOLEAN

RO

0x00 (0_dec)

6000:08

Calibration in progress

Calibration in progress. The process data indicate the last valid measuring value

BOOLEAN

RO

0x00 (0_dec)

6000:09

Steady state

BOOLEAN

RO

0x00 (0_dec)

6000:0E

Sync error

TRUE: In the last cycle the synchronization was not correct (only in DC-Mode)

BOOLEAN

RO

0x00 (0_dec)

6000:10

TxPDO Toggle

The TxPDO Toggle is toggled by the slave, if the data of the corresponding PDO was updated.

BOOLEAN

RO

0x00 (0_dec)

6000:11

Value

Measuring value as 32 Bit SIGNED INTEGER

INT32

RO

0x61746144 (1635017028_dec)

6000:12

Value (Real)

Measuring value as REAL

REAL32

RO

0x00000000 (0_dec)

6000:13

Timestamp

Timestamp of current measuring value (only in DC-Mode)

UINT64

RO

60n0:0

AI Inputs

Max. subindex

UINT8

RO

0x11 (17_dec)

60n0:01

Underrange

Value falls below the measuring range

BOOLEAN

RO

0x00 (0_dec)

60n0:02

Overrange

Measurement range is exceeded.

BOOLEAN

RO

0x00 (0_dec)

60n0:07

Error

An error has occurred, e.g.:
- Over- / underrange U_dif
- Over- / underrange U_ref
- the external U_ref is too low (between-1 V and +1 V)
- Data invalid

BOOLEAN

RO

0x00 (0_dec)

60n0:10

TxPDO Toggle

The TxPDO Toggle is toggled by the slave, if the data of the corresponding PDO was updated.

BOOLEAN

RO

0x00 (0_dec)

60n0:11

Value

32 Bit measuring value

INT32

RO

0x00000000 (0_dec)

7000:0

RMB Outputs

Max. subindex

UINT8

RO

0x05 (5_dec)

7000:01

Start calibration

The calibration can be started manually with a rising edge.
Therefore, an automatic start of the calibration at an inappropriate point of time can be prevented.

BOOLEAN

RO

0x00 (0_dec)

7000:02

Disable calibration

0: The automatic calibration is active

1: The automatic calibration is inactive

BOOLEAN

RO

0x00 (0_dec)

7000:03

Input freeze

The process data and the digital filter will be frozen

BOOLEAN

RO

0x00 (0_dec)

7000:04

Sample mode

Selection of the sampling mode:
 

0: 10.5 kHz High precision
1: 105 kHz Low latency

BOOLEAN

RO

0x00 (0_dec)

7000:05

Tara

The process data can be set to zero with a rising edge.
The tara value is not stored in the EEPROM and is lost after a reset of the terminal/box

BOOLEAN

RO

0x00 (0_dec)

7000:11

Filter frequency

Filter frequency of the variable PDO filter in 0.1 Hz, see filter

Wertebereich:
value range: 1 ... 2000 (equates to 0,1 ... 200 Hz)

From a value 0 or >2000, the filter behaves like a 50 Hz FIR filter

UINT16

RO

0x00 (0_dec)

801E:0

AI Internal data

Max. subindex

UINT8

RO

0x01 (1_dec)

801E:01

ADC raw value 1

ADC raw value

INT32

RO

0x00000000 (0_dec)

9000:0

RMB Info data

Max. subindex

UINT8

RO

0x11 (17_dec)

9000:11

mV/V

Current mV/V value

REAL32

RO

0x00000000 (0_dec)

A000:0

RMB Diag data

Max. subindex

UINT8

RO

0x18 (24_dec)

A000:11

No internal referecnce supply

No internal reference voltage at ADC input (U_Ref channel)

BOOLEAN

RO

0x00 (0_dec)

A000:12

No internal referecnce bridge

No internal reference voltage at ADC input  (U_Dif channel

BOOLEAN

RO

0x00 (0_dec)

A000:13

No external reference supply

The external reference voltage is below ±1 V

BOOLEAN

RO

0x00 (0_dec)

A000:15

Overrange bridge

Overranged measuring value in the bridge section

BOOLEAN

RO

0x00 (0_dec)

A000:16

Underrange bridge

Underranged measuring value in the bridge section

BOOLEAN

RO

0x00 (0_dec)

A000:17

Overrange supply

Overranged measuring value of the reference voltage

BOOLEAN

RO

0x00 (0_dec)

A000:18

Underrange supply

Underranged measuring value of the reference voltage

BOOLEAN

RO

0x00 (0_dec)

801F:0

AI Vendor data

Max. subindex

UINT8

RO

0x02 (2_dec)

801F:01

Calibration offset

Offset (vendor calibration))

INT32

RW

0x01E10000 (31522816_dec)

801F:02

Calibration gain

Gain (vendor calibration))

INT16

RW

0x4000 (16384_dec)

1000:0

Device type

Device type of the EtherCAT slave: The low word contains the CoE profile used (5001). The high word contains the module profile according to the modular device profile.

UINT32

RO

0x01681389 (23597961_dec)

1008:0

Device name

Device name of the EtherCAT slave

STRING

RO

EPP3356-0022

1009:0

Hardware version

Hardware version of the EtherCAT slave

STRING

RO

00

100A:0

Software version

Firmware version of the EtherCAT slave

STRING

RO

01

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

0x647697C9 (1685493705_dec)

1018:03

Revision

Revision number of the EtherCAT slave; the low word (bit 0-15) indicates the special terminal/box number, the high word (bit 16-31) refers to the device description

UINT32

RO

0x00100000 (1048576_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)

10F0:0

Backup parameter handling

Information for standardized loading and saving of backup entries

UINT8

RO

0x01 (1_dec)

10F0:01

Checksum

Checksum across all backup entries of the EtherCAT slave

UINT32

RO

0x00000000 (0_dec)

1600:0

RMB RxPDO-Map Control

PDO Mapping RxPDO-Map control

UINT8

RO

0x07 (7_dec)

1600:01

Subindex 001

1. PDO Mapping entry (object 0x7000 (RMB outputs), entry 0x01 (Start calibration))

OCTET-STRING[10]

RO

0x7000:01, 1

1600:02

Subindex 002

2. PDO Mapping entry (object 0x7000 (RMB outputs), entry 0x02 (Disable calibration))

OCTET-STRING[10]

RO

0x7000:02, 1

1600:03

Subindex 003

3. PDO Mapping entry (object 0x7000 (RMB outputs), entry 0x03 (Input freeze))

OCTET-STRING[10]

RO

0x7000:03, 1

1600:04

Subindex 004

4. PDO Mapping entry (1 bits align)

OCTET-STRING[10]

RO

0x0000:00, 1

1600:05

Subindex 005

5. PDO Mapping entry (object 0x7000 (RMB outputs), entry 0x05 (Tara))

OCTET-STRING[10]

RO

0x7000:05, 1

1600:06

Subindex 006

6. PDO Mapping entry (3 bits align)

OCTET-STRING[10]

RO

0x0000:00, 3

1600:07

Subindex 007

7. PDO Mapping entry (8 bits align)

OCTET-STRING[10]

RO

0x0000:00, 8

1601:0

RMB RxPDO-Map Filter frequency

PDO Mapping RxPDO-Map Filter frequency

UINT8

RO

0x01 (1_dec)

1601:01

Subindex 001

1. PDO Mapping entry (object 0x7000 (RMB ouputs), entry 0x11 (Start calibration))

OCTET-STRING[10]

RO

0x7000:11, 16

1800:0

RMB TxPDO-Par Status

PDO Parameter TxPDO 1

UINT8

RO

0x06 (6_dec)

1800:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 1

OCTET-STRING[10]

RO

04 1A 05 1A 06 1A 07 1A 00 00

1801:0

RMB TxPDO-Par Value (INT32)

PDO Parameter TxPDO 2

UINT8

RO

0x06 (6_dec)

1801:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 2

OCTET-STRING[10]

RO

02 1A 04 1A 05 1A 06 1A 07 1A

1802:0

RMB TxPDO-Par Value (Real)

PDO Parameter TxPDO 3

UINT8

RO

0x06 (6_dec)

1802:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 3

OCTET-STRING[10]

RO

01 1A 04 1A 05 1A 06 1A 07 1A

1803:0

RMB TxPDO-Par Timestamp

PDO Parameter TxPDO 4

UINT8

RO

0x06 (6_dec)

1803:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 4

OCTET-STRING[10]

RO

04 1A 05 1A 06 1A 07 1A 00 00

1804:0

AI TxPDO-Par Standard Ch.1

PDO Parameter TxPDO 5

UINT8

RO

0x06 (6_dec)

1804:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 5

OCTET-STRING[10]

RO

05 1A 00 1A 01 1A 02 1A 03 1A

1805:0

AI TxPDO-Par Compact Ch.1

PDO Parameter TxPDO 6

UINT8

RO

0x06 (6_dec)

1805:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 6

OCTET-STRING[10]

RO

04 1A 00 1A 01 1A 02 1A 03 1A

1806:0

AI TxPDO-Par Standard Ch.2

PDO Parameter TxPDO 7

UINT8

RO

0x06 (6_dec)

1806:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 7

OCTET-STRING[10]

RO

07 1A 00 1A 01 1A 02 1A 03 1A

1807:0

AI TxPDO-Par Compact Ch.2

PDO Parameter TxPDO 8

UINT8

RO

0x06 (6_dec)

1807:06

Exclude TxPDOs

This entry contains the TxPDOs (Index of the TxPDO Mapping objects) which shall not be transmitted with TxPDO 8

OCTET-STRING[10]

RO

06 1A 00 1A 01 1A 02 1A 03 1A

1A00:0

RMB TxPDO-Map Status

PDO Mapping RxPDO-Map Status

UINT8

RO

0x0C (12_dec)

1A00:01

Subindex 001

1. PDO Mapping entry (1 bits align)

OCTET-STRING[10]

RO

0x0000:00, 1

1A00:02

Subindex 002

2. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x02 (Overrange))

OCTET-STRING[10]

RO

0x6000:02, 1

1A00:03

Subindex 003

3. PDO Mapping entry (1 bits align)

OCTET-STRING[10]

RO

0x0000:00, 1

1A00:04

Subindex 004

4. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x04 (Data invalid))

OCTET-STRING[10]

RO

0x6000:04, 1

1A00:05

Subindex 005

5. PDO Mapping entry (2 bits align)

OCTET-STRING[10]

RO

0x0000:00, 2

1A00:06

Subindex 006

6. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x07 (Error))

OCTET-STRING[10]

RO

0x6000:07, 1

1A00:07

Subindex 007

7. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x08 (Calibration in progress))

OCTET-STRING[10]

RO

0x6000:08, 1

1A00:08

Subindex 008

8. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x09 (Steady state))

OCTET-STRING[10]

RO

0x6000:09, 1

1A00:09

Subindex 009

9. PDO Mapping entry (4 bits align)

OCTET-STRING[10]

RO

0x0000:00, 4

1A00:0A

Subindex 010

10. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x0E (Sync error))

OCTET-STRING[10]

RO

0x6000:0E, 1

1A00:0B

Subindex 011

11. PDO Mapping entry (1 bits align)

OCTET-STRING[10]

RO

0x0000:00, 1

1A00:0C

Subindex 012

12. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x10 (TxPDO Toggle))

OCTET-STRING[10]

RO

0x6000:10, 1

1A01:0

RMB TxPDO-Map Value (INT32)

PDO Mapping Value (INT32)

UINT8

RW

0x01 (1_dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x11 (Value))

UINT32

RW

0x6000:11, 32

1A02:0

RMB TxPDO-Map Value (real)

PDO Mapping Value (real)

UINT8

RW

0x01 (1_dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (RMB inputs), entry 0x12 (Value (real)))

UINT32

RW

0x6000:12, 32

1A03:0

RMB TxPDO-Map Timestamp

PDO Mapping Value Timestamp

UINT8

RW

0x01 (1_dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x0000, entry 0x00)

UINT64

RW

0x0000:00, 64

1A04:0

AI supply TxPDO-Map Standard Ch. 1

PDO Mapping TxPDO  Standard Ch. 1

UINT8

RW

0x07 (7_dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (AI supply Inputs), entry 0x01 (Underrange))

UINT32

RW

0x6010:01, 1

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (AI supply Inputs), entry 0x02 (Overrange))

UINT32

RW

0x6010:02, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (4 bits align)

UINT32

RW

0x0000:00, 4

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (AI supply Inputs), entry 0x04 (Error))

UINT32

RW

0x6010:07, 1

1A04:05

SubIndex 005

5. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

1A04:06

SubIndex 006

6. PDO Mapping entry (object 0x6010, entry 0x10 (TxPDO Toggle))

UINT32

RW

0x6010:10, 1

1A04:07

SubIndex 007

7. PDO Mapping entry (object 0x6010, entry 0x11 (Value))

UINT32

RW

0x6010:11, 32

1A05:0

AI supply TxPDO-Map Compact Ch. 1

PDO Mapping TxPDO  Compact Ch. 1

UINT8

RW

0x01 (1_dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6010, entry 0x11 (Value))

UINT32

RW

0x6010:11, 32

1A06:0

AI supply TxPDO-Map Standard Ch. 2

PDO Mapping TxPDO  Standard Ch. 2

UINT8

RW

0x07 (7_dec)

1A06:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (AI supply Inputs), entry 0x01 (Underrange))

UINT32

RW

0x6020:01, 1

1A06:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (AI supply Inputs), entry 0x02 (Overrange))

UINT32

RW

0x6020:02, 1

1A06:03

SubIndex 003

3. PDO Mapping entry (4 bits align)

UINT32

RW

0x0000:00, 4

1A06:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (AI supply Inputs), entry 0x04 (Error))

UINT32

RW

0x6020:07, 1

1A06:05

SubIndex 005

5. PDO Mapping entry (8 bits align)

UINT32

RW

0x0000:00, 8

1A06:06

SubIndex 006

6. PDO Mapping entry (object 0x6020, entry 0x10 (TxPDO Toggle))

UINT32

RW

0x6020:10, 1

1A06:07

SubIndex 007

7. PDO Mapping entry (object 0x6020, entry 0x11 (Value))

UINT32

RW

0x6020:11, 32

1A07:0

AI supply TxPDO-Map Compact Ch. 2

PDO Mapping TxPDO  Compact Ch. 2

UINT8

RW

0x01 (1_dec)

1A07:01

SubIndex 001

1. PDO Mapping entry (object 0x6020, entry 0x11 (Value))

UINT32

RW

0x6020:11, 32

1C00:0

Sync manager type

Usage of the Sync Manager channels

UINT8

RO

0x04 (4_dec)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1_dec)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2_dec)

1C00:03

SubIndex 003

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

UINT8

RO

0x03 (3_dec)

1C00:04

SubIndex 004

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

UINT8

RO

0x04 (4_dec)

1C12:0

RxPDO assign

PDO Assign Inputs

UINT8

RW

0x01 (1_dec)

1C12:01

Subindex 001

1. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1600 (5632_dec)

1C12:02

Subindex 002

2. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

-

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x01 (1_dec)

1C13:01

Subindex 001

1. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1A00 (6656_dec)

1C13:02

Subindex 002

2. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

0x1A01 (6657_dec)

1C13:03

Subindex 003

3. assigned TxPDO (contains the index of the corresponding TxPDO Mapping object)

UINT16

RW

-

1C32:0

SM output parameter

Synchronization parameter of the outputs

UINT8

RO

0x20 (32_dec)

1C32:01

Sync mode

Actual 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

UINT16

RW

0x0001 (1_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

0x000C65D4 (812500_dec)

1C32:03

Shift time

Time between SYNC0-Event and Input Latch (in ns, only in DC-Mode)

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 = 01: Input Shift with local event (Outputs available)
• Bit 4-5 = 10: Output Shift with SYNC1 Event (only DC mode)
• Bit 14 = 1: dynamic times (could be measured  by writing 0x1C32:08)

UINT16

RO

0xC007 (49159_dec)

1C32:05

Minimum cycle time

Minimum cycle time supported (in ns)

UINT32

RO

0x0000C350 (50000_dec)

1C32:06

Calc and copy time

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

UINT32

RO

0x00000000 (0_dec)

1C32:07

Minimum delay time

UINT32

RO

0x00000000 (0_dec)

1C32:08

Command

• 0: Measurement of the times will be stopped
• 1: Measurement of the times will be started

The Entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03, 0x1C33:06, 0x1C33:09 will be updated with the maximum measured values. 

The measured valued well be reset, if measured again

UINT16

RW

0x0000 (0_dec)

1C32:09

Maximum Delay time

Time between SYNC1-Event and output latch (in ns, only in DC mode)

UINT32

RO

0x00000000 (0_dec)

1C32:0B

SM event missed counter

Number of the missed SM-Events in state OPERATIONAL (only in DC Mode)

UINT16

RO

0x0000 (0_dec)

1C32:0C

Cycle exceeded counter

Number of the exceeded cycles in state OPERATIONAL

UINT16

RO

0x0000 (0_dec)

1C32:0D

Shift too short counter

Number of the too short distances between SYNC0 and SYNC1 Event (only in DC Mode)

UINT16

RO

0x0000 (0_dec)

1C32:20

Sync error

TRUE: In the last cycle the synchronization was not correct (only in DC-Mode)

BOOLEAN

RO

0x00 (0_dec)

1C33:0

SM input parameter

Synchronization parameter of the outputs

UINT8

RO

0x20 (32_dec)

1C33:01

Sync mode

Actual 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: synchronous with SM 2 event (outputs available)

UINT16

RW

0x0022 (34_dec)

1C33:02

Cycle time

same as 0x1C32:02

UINT32

RW

0x000C65D4 (812500_dec)

1C33:03

Shift time

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

UINT32

RO

0x00000000 (0_dec)

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 1C33:08)

UINT16

RO

0xC007 (49159_dec)

1C33:05

Minimum cycle time

same as 0x1C32:05

UINT32

RO

0x0000C350 (50000_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

Command

same as 0x1C32:08

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)

1C33:0B

SM event missed counter

same as 0x1C32:11

UINT16

RO

0x0000 (0_dec)

1C33:0C

Cycle exceeded counter

same as 0x1C32:12

UINT16

RO

0x0000 (0_dec)

1C33:0D

Shift too short counter

same as 0x1C32:13

UINT16

RO

0x0000 (0_dec)

1C33:20

Sync error

same as 0x1C32:32

BOOLEAN

RO

0x00 (0_dec)

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2_dec)

F000:01

Module index distance

Index spacing of the objects of the individual channels

UINT16

RO

0x0010 (16_dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0001 (1_dec)

F008:0

Code word

reserved

UINT32

RW

0x00000000 (0_dec)

F010:0

Module list

Max. subindex

UINT8

RW

0x03 (3_dec)

F010:01

SubIndex 001

RMB

UINT32

RW

0x00000172 (370_dec)

F010:02

SubIndex 002

 AI

UINT32

RW

0x0000012C (300_dec)

F010:03

SubIndex 003

 AI

UINT32

RW

0x0000012C (300_dec)