Object description and parameterization

Object description and parameterization 1:

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.

Object description and parameterization 2:

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (allocation of PDOs).

Introduction

The CoE overview contains objects for different intended applications:

The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.

Objects to be parameterized during commissioning

Index 1011 Restore default parameters

Index (hex)

Name

Meaning

Data type

Flags

Default

1011:0

Restore default parameters

Restore default settings

UINT8

RO

0x01 (1dec)

1011:01

SubIndex 001

If this object is set to "0x64616F6C" in the Set Value Dialog, all backup objects are reset to their delivery state.

UINT32

RW

0x00000000 (0dec)

Index 8000 AI Settings Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

8000:0

AI Settings Ch.1

 

UINT8

RO

0x1A (26dec)

8000:06

Enable filter

Activates the filter.

BOOLEAN

RW

0x00 (0dec)

8000:15

Filter settings

This object determines the filter settings of all channels of the module when it is activated via Enable filter index 0x80n0:06.

UINT16

RW

0x0002 (2dec)

0

FIR

2

IIR1

3

IIR2

4

IIR3

5

IIR4

6

IIR5

7

IIR6

8

IIR7

9

IIR8

8000:19

Range

Setting the measuring range:

  • 0dec: +-2G
  • 1dec: +-4G
  • 2dec: +-8G
  • 3dec: +-16G

UINT16

RW

0x0000 (0dec)

8000:1A

Presentation

Representation of the data

  • 0dec: Raw values
  • 1dec: milli G (mG)

UINT16

RW

0x0001 (1dec)

Index 8010 AI Settings Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

8010:0

AI Settings Ch.2

 

UINT8

RO

0x1A (26dec)

8010:06

Enable filter

Activates the filter.

BOOLEAN

RW

0x00 (0dec)

8010:15

Filter settings

This object determines the filter settings of all channels of the module when it is activated via Enable filter index 0x80n0:06.

UINT16

RW

0x0002 (2dec)

0

FIR

2

IIR1

3

IIR2

4

IIR3

5

IIR4

6

IIR5

7

IIR6

8

IIR7

9

IIR8

8010:19

Range

Setting the measuring range:

  • 0dec: +-2G
  • 1dec: +-4G
  • 2dec: +-8G
  • 3dec: +-16G

UINT16

RW

0x0000 (0dec)

8010:1A

Presentation

Representation of the data

  • 0dec: Raw values
  • 1dec: milli G (mG)

UINT16

RW

0x0001 (1dec)

Index 8020 AI Settings Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

8020:0

AI Settings Ch.3

 

UINT8

RO

0x1A (26dec)

8020:06

Enable filter

Activates the filter.

BOOLEAN

RW

0x00 (0dec)

8020:15

Filter settings

This object determines the filter settings of all channels of the module when it is activated via Enable filter index 0x80n0:06.

UINT16

RW

0x0002 (2dec)

0

FIR

2

IIR1

3

IIR2

4

IIR3

5

IIR4

6

IIR5

7

IIR6

8

IIR7

9

IIR8

8020:19

Range

Setting the measuring range:

  • 0dec: +-2G
  • 1dec: +-4G
  • 2dec: +-8G
  • 3dec: +-16G

UINT16

RW

0x0000 (0dec)

8020:1A

Presentation

Representation of the data

  • 0dec: Raw values
  • 1dec: milli G (mG)

UINT16

RW

0x0001 (1dec)

Index 8030 AI Settings Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

8030:0

AI Settings Ch.4

 

UINT8

RO

0x11 (21dec)

8030:06

Enable filter

Activates the filter.

BOOLEAN

RW

0x00 (0dec)

8030:15

Filter settings

This object determines the filter settings of all channels of the module when it is activated via Enable filter index 0x80n0:06.

UINT16

RW

0x0002 (2dec)

0

FIR

2

IIR1

3

IIR2

4

IIR3

5

IIR4

6

IIR5

7

IIR6

8

IIR7

9

IIR8

8030:19

Range

Setting the measuring range:

  • 0dec: +-2G
  • 1dec: +-4G
  • 2dec: +-8G
  • 3dec: +-16G

UINT16

RW

0x0000 (0dec)

8030:1A

Presentation

Representation of the data

  • 0dec: Raw values
  • 1dec: milli G (mG)

UINT16

RW

0x0001 (1dec)

Index 8040 AI Settings Ch.5

Index (hex)

Name

Meaning

Data type

Flags

Default

8040:0

AI Settings Ch.5

 

UINT8

RO

0x1A (26dec)

8040:06

Enable filter

Activates the filter.

BOOLEAN

RW

0x00 (0dec)

8040:15

Filter settings

This object determines the filter settings of all channels of the module when it is activated via Enable filter index 0x80n0:06.

UINT16

RW

0x0002 (2dec)

0

FIR

2

IIR1

3

IIR2

4

IIR3

5

IIR4

6

IIR5

7

IIR6

8

IIR7

9

IIR8

8040:19

Range

Setting the measuring range:

  • 0dec: +-2G
  • 1dec: +-4G
  • 2dec: +-8G
  • 3dec: +-16G

UINT16

RW

0x0000 (0dec)

8040:1A

Presentation

Representation of the data

  • 0dec: Raw values
  • 1dec: milli G (mG)

UINT16

RW

0x0001 (1dec)

Index 8050 AI Settings Ch.6

Index (hex)

Name

Meaning

Data type

Flags

Default

8050:0

AI Settings Ch.6

 

UINT8

RO

0x1A (26dec)

8050:06

Enable filter

Activates the filter.

BOOLEAN

RW

0x00 (0dec)

8050:15

Filter settings

This object determines the filter settings of all channels of the module when it is activated via Enable filter index 0x80n0:06.

UINT16

RW

0x0002 (2dec)

0

FIR

2

IIR1

3

IIR2

4

IIR3

5

IIR4

6

IIR5

7

IIR6

8

IIR7

9

IIR8

8050:19

Range

Setting the measuring range:

  • 0dec: +-2G
  • 1dec: +-4G
  • 2dec: +-8G
  • 3dec: +-16G

UINT16

RW

0x0000 (0dec)

8050:1A

Presentation

Representation of the data

  • 0dec: Raw values
  • 1dec: milli G (mG)

UINT16

RW

0x0001 (1dec)

Index 8060 SAI Settings (Firmware 01)

The object with index 8060 is invisible in the object directory from Firmware 02. However, it can still be read and written via SDO access. This ensures backward compatibility with PLC programs that were written prior to the release of Firmware 02.
The content of index 8060 is mirrored in index F800 from Firmware 02.

Index (hex)

Name

Meaning

Data type

Flags

Default

8060:0

SAI Settings

 

UINT8

RO

0x1D (29dec)

8060:0D

Filter sampling rate

Selection of the internal sampling rate:

  • 0dec: 200 Hz
  • 1dec: 500 Hz
  • 2dec: 1000 Hz
  • 3dec: 2500 Hz
  • 4dec: 5000 Hz
  • The sensor resolution is reduced to 8-bit if the rate is increased to 2500 Hz or 5000 Hz.

UINT16

RW

0x0002 (2dec)

8060:11

Range

Setting the measuring range:

  • 0dec: +-2G
  • 1dec: +-4G
  • 2dec: +-8G
  • 3dec: +-16G

UINT16

RW

0x0000 (0dec)

8060:1D

Presentation

Representation of the data

  • 0dec: Raw values
  • 1dec: milli G (mG)

UINT16

RW

0x0001 (1dec)

Index F800 SAI Settings (from Firmware 02)

Index (hex)

Name

Meaning

Data type

Flags

Default

F800:0

SAI Settings

 

UINT8

RO

0x1D (29dec)

F800:0D

Filter sampling rate

Selection of the internal sampling rate:

  • 0dec: 200 Hz
  • 1dec: 500 Hz
  • 2dec: 1000 Hz
  • 3dec: 2500 Hz
  • 4dec: 5000 Hz
  • The sensor resolution is reduced to 8-bit if the rate is increased to 2500 Hz or 5000 Hz.

UINT16

RW

0x0002 (2dec)

F800:11

Range

Setting the measuring range:

  • 0dec: +-2G
  • 1dec: +-4G
  • 2dec: +-8G
  • 3dec: +-16G
  • 255dec: Channel setting: The measuring range is set individually for each channel via the indices 0x80n0:19.

UINT16

RW

0x0000 (0dec)

F800:1D

Presentation

Representation of the data

  • 0dec: Raw values
  • 1dec: milli G (mG)
  • 255dec: Channel setting: The representation is set channel-wise via the indices 0x80n0:1A.

UINT16

RW

0x0001 (1dec)

Additional objects

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

EP3752-0000

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

00

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

0x6476b088 (1685500040dec)

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

0x00100002 (1048578dec)

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 1A00 AI TxPDO-Map Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

AI TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 1

UINT8

RO

0x06 (6dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

RO

0x0000:00, 6

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x07 (Error))

UINT32

RO

0x6000:07, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

RO

0x0000:00, 7

1A00:04

SubIndex 004

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

UINT32

RO

0x6000:0F, 1

1A00:05

SubIndex 005

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

UINT32

RO

0x6000:10, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1), entry 0x11 (Value))

UINT32

RO

0x6000:11, 16

Index 1A01 AI TxPDO-Map Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

1A01:0

AI TxPDO-Map Inputs Ch.1

PDO Mapping TxPDO 2

UINT8

RO

0x06 (6dec)

1A01:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

RO

0x0000:00, 6

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x07 (Error))

UINT32

RO

0x6010:07, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

RO

0x0010:00, 7

1A01:04

SubIndex 004

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

UINT32

RO

0x6010:0F, 1

1A01:05

SubIndex 005

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

UINT32

RO

0x6010:10, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2), entry 0x11 (Value))

UINT32

RO

0x6010:11, 16

Index 1A02 AI TxPDO-Map Inputs Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

1A02:0

AI TxPDO-Map Inputs Ch.3

PDO Mapping TxPDO 3

UINT8

RO

0x06 (6dec)

1A02:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

RO

0x0000:00, 6

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (AI Inputs Ch.3), entry 0x07 (Error))

UINT32

RO

0x6020:07, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

RO

0x0000:00, 7

1A02:04

SubIndex 004

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

UINT32

RO

0x6020:0F, 1

1A02:05

SubIndex 005

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

UINT32

RO

0x6020:10, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (AI Inputs Ch.3), entry 0x11 (Value))

UINT32

RO

0x6020:11, 16

Index 1A03 AI TxPDO-Map Inputs Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

1A03:0

AI TxPDO-Map Inputs Ch.4

PDO Mapping TxPDO 4

UINT8

RO

0x06 (6dec)

1A03:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

RO

0x0000:00, 6

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (AI Inputs Ch.4), entry 0x07 (Error))

UINT32

RO

0x6030:07, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

RO

0x0000:00, 7

1A03:04

SubIndex 004

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

UINT32

RO

0x6030:0F, 1

1A03:05

SubIndex 005

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

UINT32

RO

0x6030:10, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (object 0x6030 (AI Inputs Ch.4), entry 0x11 (Value))

UINT32

RO

0x6030:11, 16

Index 1A04 AI TxPDO-Map Inputs Ch.5

Index (hex)

Name

Meaning

Data type

Flags

Default

1A04:0

AI TxPDO-Map Inputs Ch.5

PDO Mapping TxPDO 5

UINT8

RO

0x06 (6dec)

1A04:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

RO

0x0000:00, 6

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6040 (AI Inputs Ch.5), entry 0x07 (Error))

UINT32

RO

0x6040:07, 1

1A04:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

RO

0x0000:00, 7

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6040 (AI Inputs Ch.5), entry 0x0F (TxPDO State))

UINT32

RO

0x6040:0F, 1

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6040 (AI Inputs Ch.5), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6040:10, 1

1A04:06

SubIndex 006

6. PDO Mapping entry (object 0x6040 (AI Inputs Ch.5), entry 0x11 (Value))

UINT32

RO

0x6040:11, 16

Index 1A05 AI TxPDO-Map Inputs Ch.6

Index (hex)

Name

Meaning

Data type

Flags

Default

1A05:0

AI TxPDO-Map Inputs Ch.6

PDO Mapping TxPDO 5

UINT8

RO

0x06 (6dec)

1A05:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

RO

0x0000:00, 6

1A05:02

SubIndex 002

2. PDO Mapping entry (object 0x6050 (AI Inputs Ch.6), entry 0x07 (Error))

UINT32

RO

0x6050:07, 1

1A05:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

RO

0x0000:00, 7

1A05:04

SubIndex 004

4. PDO Mapping entry (object 0x6050 (AI Inputs Ch.6), entry 0x0F (TxPDO State))

UINT32

RO

0x6050:0F, 1

1A05:05

SubIndex 005

5. PDO Mapping entry (object 0x6050 (AI Inputs Ch.6), entry 0x10 (TxPDO Toggle))

UINT32

RO

0x6050:10, 1

1A05:06

SubIndex 006

6. PDO Mapping entry (object 0x6050 (AI Inputs Ch.6), entry 0x11 (Value))

UINT32

RO

0x6050:11, 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

0x00 (0dec)

Index 1C13 TxPDO assign

Index (hex)

Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x04 (4dec)

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

0x1A02 (6658dec)

1C13:04

Subindex 004

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

UINT16

RW

0x1A03 (6659dec)

1C13:05

Subindex 005

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

UINT16

RW

0x1A04 (6660dec)

1C13:06

Subindex 006

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

UINT16

RW

0x1A06 (6662dec)

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

0x0022 (34dec)

1C33:02

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)

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: 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 0x1C32:08 or 0x1C33:08)

UINT16

RO

0x0003 (3dec)

1C33:05

Minimum cycle time

Minimum cycle time supported (in ns)

UINT32

RO

0x0003D040 (20000dec)

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

With this entry the real required process data provision time can be measured.

0: Measurement of the local cycle time is stopped

1: Measurement of the local cycle time is started

The entries 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)

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

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

UINT16

RO

0x0000 (0dec)

1C33:0C

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)

1C33:0D

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)

1C33:20

Sync error

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

BOOLEAN

RO

0x00 (0dec)

Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

Index 6000 AI Inputs Ch.1

Index (hex)

Name

Meaning

Data type

Flags

Default

6000:0

AI Inputs Ch.1

 

UINT8

RO

0x11 (17dec)

6000:07

Error

 

BOOLEAN

RO

0x00 (0dec)

6000:0F

TxPDO State

 

BOOLEAN

RO

0x00 (0dec)

6000:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6000:11

Value

 

INT16

RO

0x0000 (0dec)

Index 6010 AI Inputs Ch.2

Index (hex)

Name

Meaning

Data type

Flags

Default

6010:0

AI Inputs Ch.2

 

UINT8

RO

0x11 (17dec)

6010:07

Error

 

BOOLEAN

RO

0x00 (0dec)

6010:0F

TxPDO State

 

BOOLEAN

RO

0x00 (0dec)

6010:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6010:11

Value

 

INT16

RO

0x0000 (0dec)

Index 6020 AI Inputs Ch.3

Index (hex)

Name

Meaning

Data type

Flags

Default

6020:0

AI Inputs Ch.3

 

UINT8

RO

0x11 (17dec)

6020:07

Error

 

BOOLEAN

RO

0x00 (0dec)

6020:0F

TxPDO State

 

BOOLEAN

RO

0x00 (0dec)

6020:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6020:11

Value

 

INT16

RO

0x0000 (0dec)

Index 6030 AI Inputs Ch.4

Index (hex)

Name

Meaning

Data type

Flags

Default

6030:0

AI Inputs Ch.4

 

UINT8

RO

0x11 (17dec)

6030:07

Error

 

BOOLEAN

RO

0x00 (0dec)

6030:0F

TxPDO State

 

BOOLEAN

RO

0x00 (0dec)

6030:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6030:11

Value

 

INT16

RO

0x0000 (0dec)

Index 6040 AI Inputs Ch.5

Index (hex)

Name

Meaning

Data type

Flags

Default

6040:0

AI Inputs Ch.5

 

UINT8

RO

0x11 (17dec)

6040:07

Error

 

BOOLEAN

RO

0x00 (0dec)

6040:0F

TxPDO State

 

BOOLEAN

RO

0x00 (0dec)

6040:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6040:11

Value

 

INT16

RO

0x0000 (0dec)

Index 6050 AI Inputs Ch.6

Index (hex)

Name

Meaning

Data type

Flags

Default

6050:0

AI Inputs Ch.6

 

UINT8

RO

0x11 (17dec)

6050:07

Error

 

BOOLEAN

RO

0x00 (0dec)

6050:0F

TxPDO State

 

BOOLEAN

RO

0x00 (0dec)

6050:10

TxPDO Toggle

 

BOOLEAN

RO

0x00 (0dec)

6050:11

Value

 

INT16

RO

0x0000 (0dec)

Index F000 Modular device profile

Index (hex)

Name

Meaning

Data type

Flags

Default

F000:0

Modular device profile

General information for the modular device profile

UINT8

RO

0x02 (2dec)

F000:01

Module index distance

Index distance of the objects of the individual channels

UINT16

RO

0x0010 (16dec)

F000:02

Maximum number of modules

Number of channels

UINT16

RO

0x0002 (2dec)

Index F008 Code word

Index (hex)

Name

Meaning

Data type

Flags

Default

F008:0

Code word

 

UINT32

RW

0x00000000 (0dec)

Index F010 Module list

Index (hex)

Name

Meaning

Data type

Flags

Default

F010:0

Module list

 

UINT8

RW

0x02 (2dec)

F010:01

SubIndex 001

 

UINT32

RW

0x00000258 (600dec)

F010:02

SubIndex 002

 

UINT32

RW

0x00000258 (600dec)