ation 8 channel digital input/output terminal with time stamp
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ation 8 channel digital input/output terminal with time stamp
EL1258 EL1258-0010 EL1259 EL2258 EL125x, EL2258 ation 8 channel digital input/output terminal with time stamp EL125x EL2258en Ver2.8 version:2.8 lang:en-US signtarget: archivetarget:
ation 8 channel digital input/output terminal with ...
This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT communication is interrupted, the SM watchdog is triggered ...
Extracted Text
Documentation | EN
EL125x, EL2258
8 channel digital input/output terminal with time stamp
2021-01-26 | Version: 2.8
Product overview - 8 channel Digital Input/Output Terminals
1
Product overview - 8 channel Digital Input/
Output Terminals
EL1258 [} 16] 8 channel digital input terminal 24 VDC, with Timestamp
EL1258-0010 [} 16] 8 channel digital input terminal 24 VDC, with Timestamp, ground switching
EL1259 [} 16] 2 x 8 channel digital input/output terminal 24 VDC, with Timestamp
EL2258 [} 16] 8 channel digital output terminal 24 VDC, with Timestamp
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Table of contents
Table of contents
1 Product overview - 8 channel Digital Input/Output Terminals .............................................................. 3
2 Foreword .................................................................................................................................................... 7 2.1 Notes on the documentation.............................................................................................................. 7 2.2 Safety instructions ............................................................................................................................. 8 2.3 Documentation issue status .............................................................................................................. 9 2.4 Version identification of EtherCAT devices ..................................................................................... 10 2.4.1 Beckhoff Identification Code (BIC)................................................................................... 14
3 Product overview..................................................................................................................................... 16 3.1 EL1258, EL1259, EL2258 ............................................................................................................... 16 3.1.1 Introduction ...................................................................................................................... 16 3.1.2 Technical data ................................................................................................................. 19 3.1.3 Technology ...................................................................................................................... 20 3.2 Start ................................................................................................................................................. 24
4 Basics communication ........................................................................................................................... 25 4.1 EtherCAT basics.............................................................................................................................. 25 4.2 EtherCAT cabling � wire-bound....................................................................................................... 25 4.3 General notes for setting the watchdog ........................................................................................... 26 4.4 EtherCAT State Machine ................................................................................................................. 28 4.5 CoE Interface................................................................................................................................... 30 4.6 Distributed Clock ............................................................................................................................. 35
5 Mounting and wiring................................................................................................................................ 36 5.1 Instructions for ESD protection ........................................................................................................ 36 5.2 Installation on mounting rails ........................................................................................................... 36 5.3 Installation instructions for enhanced mechanical load capacity ..................................................... 40 5.4 Connection ...................................................................................................................................... 40 5.4.1 Connection system .......................................................................................................... 40 5.4.2 Wiring............................................................................................................................... 43 5.4.3 Shielding .......................................................................................................................... 44 5.5 Installation positions ........................................................................................................................ 44 5.6 Positioning of passive Terminals ..................................................................................................... 47 5.7 UL notice ......................................................................................................................................... 47 5.8 EL1258-00x0, EL1259, EL2258 - LEDs and connection ................................................................. 49
6 Commissioning........................................................................................................................................ 53 6.1 TwinCAT Quick Start ....................................................................................................................... 53 6.1.1 TwinCAT 2 ....................................................................................................................... 56 6.1.2 TwinCAT 3 ....................................................................................................................... 66 6.2 TwinCAT Development Environment .............................................................................................. 79 6.2.1 Installation of the TwinCAT real-time driver..................................................................... 80 6.2.2 Notes regarding ESI device description........................................................................... 85 6.2.3 TwinCAT ESI Updater ..................................................................................................... 89 6.2.4 Distinction between Online and Offline............................................................................ 89 6.2.5 OFFLINE configuration creation ...................................................................................... 90 6.2.6 ONLINE configuration creation ........................................................................................ 95
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6.2.7 EtherCAT subscriber configuration................................................................................ 103 6.3 General Notes - EtherCAT Slave Application ................................................................................ 112 6.4 Sensitivity of the input.................................................................................................................... 120 6.5 Basic function principles ................................................................................................................ 120
6.5.1 Definitions ...................................................................................................................... 120 6.5.2 Compatibility mode in relation to EL1252/EL2252......................................................... 123 6.6 Commissioning inputs ................................................................................................................... 125 6.6.1 Basic principles.............................................................................................................. 126 6.6.2 Commissioning of a MTI channel .................................................................................. 128 6.6.3 Commissioning in compatibility mode............................................................................ 131 6.7 Commissioning outputs ................................................................................................................. 132 6.7.1 Basic principles.............................................................................................................. 132 6.7.2 Commissioning an MTO channel................................................................................... 136 6.7.3 Commissioning in compatibility mode EL2252 .............................................................. 138 6.8 Distributed Clocks settings ............................................................................................................ 139 6.9 CoE object description and parameterization ................................................................................ 142 6.9.1 EL1258 .......................................................................................................................... 142 6.9.2 EL1259 .......................................................................................................................... 179 6.9.3 EL2258 .......................................................................................................................... 252 6.10 Example programs ........................................................................................................................ 292 6.10.1 Example program for EL2258: Multi-Timestamp ........................................................... 294 6.10.2 Example program for EL1258 (EL1259): MT Visualization (TC 3) ................................ 297
7 Appendix ................................................................................................................................................ 300 7.1 EtherCAT AL Status Codes ........................................................................................................... 300 7.2 Firmware compatibility ................................................................................................................... 300 7.3 Firmware Update EL/ES/EM/ELM/EPxxxx .................................................................................... 301 7.3.1 Device description ESI file/XML..................................................................................... 302 7.3.2 Firmware explanation .................................................................................................... 305 7.3.3 Updating controller firmware *.efw................................................................................. 306 7.3.4 FPGA firmware *.rbf....................................................................................................... 308 7.3.5 Simultaneous updating of several EtherCAT devices.................................................... 312 7.4 Restoring the delivery state ........................................................................................................... 313 7.5 Support and Service ...................................................................................................................... 314
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Foreword
Foreword
2.1
Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning these components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff�, TwinCAT�, EtherCAT�, EtherCAT G�, EtherCAT G10�, EtherCAT P�, Safety over EtherCAT�, TwinSAFE�, XFC�, XTS� and XPlanar� are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding applications or registrations in various other countries.
EtherCAT� is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Copyright
� Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.
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Foreword
2.2
Safety instructions
Safety regulations
Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used. These instructions must be read carefully and followed without fail!
DANGER Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
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2.3
Version 2.8
2.7 2.6
2.5 2.4 2.3
2.2
2.1 2.0
1.4
1.3
1.2
1.1 1.0 0.5 0.4 0.3 0.2 0.1
Documentation issue status
Comment � EL1258-0010 added � Update chapter "Technical data" � Update structure � Update revision status � Addenda chapter "Sensitivity of the inputs" � Update revision status � Update chapter "Technical data" � Update structure � Update revision status � Example program for EL1258 (MT Visualization) added to chapter "Commissioning" � Update chapter "Commissioning", Example program for EL2258 (MultiTimestamp) � Update chapter "Notes on the documentation" � Update chapter "Technical data" � Addenda chapter "Instructions for ESD protection" � Addenda chapter "TwinCAT Quickstart" � Addenda chapter "UL notice" � Update revision status � Update chapter "Technical data" � Update structure � Update revision status � Example program for EL2258 (Multi-Timestamp) added to chapter "Commissioning" � Migration � Update structure � Update revision status � Update chapter "Distributed Clocks settings" � Update structure � Update revision status � Update chapter "Distributed Clocks settings" � Update structure � Update revision status � Update chapter "Technical data" � Addenda chapter "Installation instructions for enhanced mechanical load capacity" � Update structure � Update revision status � Addenda chapter "Commissioning outputs" � Update revision status � Addenda � First public issue � Addenda object directory � Correction chapter "Technical data" � Correction chapter "Technical data" � Correction chapter "Commissioning" � Provisional documentation for EL125x, EL2258
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Foreword
2.4
Version identification of EtherCAT devices
Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of � family key � type � version � revision
Example
Family
Type
Version
Revision
EL3314-0000-0016
EL terminal
3314 (4-channel thermocouple
(12 mm, non-
terminal)
pluggable connection
level)
0000 (basic type) 0016
ES3602-0010-0017 ES terminal (12 mm, pluggable connection level)
3602 (2-channel voltage measurement)
0010 (high-
0017
precision version)
CU2008-0000-0000 CU device
2008 (8-port fast ethernet switch) 0000 (basic type) 0000
Notes
� The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the example below.
� EL3314-0000 is the order identifier, in the case of "-0000" usually abbreviated to EL3314. "-0016" is the EtherCAT revision.
� The order identifier is made up of - family key (EL, EP, CU, ES, KL, CX, etc.) - type (3314) - version (-0000)
� The revision -0016 shows the technical progress, such as the extension of features with regard to the EtherCAT communication, and is managed by Beckhoff. In principle, a device with a higher revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation. Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave Information) in the form of an XML file, which is available for download from the Beckhoff web site. From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. "EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)".
� The type, version and revision are read as decimal numbers, even if they are technically saved in hexadecimal.
Identification number
Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:
Production lot/batch number/serial number/date code/D number
The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.
Structure of the serial number: KK YY FF HH
KK - week of production (CW, calendar week) YY - year of production FF - firmware version HH - hardware version
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Example with Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02 Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device documentation): Syntax: D ww yy x y z u D - prefix designation ww - calendar week yy - year x - firmware version of the bus PCB y - hardware version of the bus PCB z - firmware version of the I/O PCB u - hardware version of the I/O PCB Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O PCB: 1
Unique serial number/ID, ID number In addition, in some series each individual module has its own unique serial number. See also the further documentation in the area
� IP67: EtherCAT Box � Safety: TwinSafe � Terminals with factory calibration certificate and other measuring terminals
Examples of markings
Fig. 1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01)
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Fig. 2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
Fig. 3: CU2016 switch with serial/ batch number
Fig. 4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418
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Fig. 5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial number 158102
Fig. 6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070
Fig. 7: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number 00331701
Fig. 8: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number 44160201
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2.4.1 Beckhoff Identification Code (BIC)
The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is based on the ANSI standard MH10.8.2-2016.
Fig. 9: BIC as data matrix code (DMC, code scheme ECC200)
The BIC will be introduced step by step across all product groups.
Depending on the product, it can be found in the following places: � on the packaging unit � directly on the product (if space suffices) � on the packaging unit and the product
The BIC is machine-readable and contains information that can also be used by the customer for handling and product management.
Each piece of information can be uniquely identified using the so-called data identifier (ANSI MH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum length according to the table below. If the information is shorter, spaces are added to it. The data under positions 1 to 4 are always available.
The following information is contained:
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Item Type of no. information
Explanation
Data identifier
1 Beckhoff order number
Beckhoff order number 1P
2 Beckhoff Traceability Unique serial number, S
Number (BTN)
see note below
3 Article description Beckhoff article
1K
description, e.g.
EL1008
4 Quantity
Quantity in packaging Q unit, e.g. 1, 10, etc.
5 Batch number
Optional: Year and week 2P of production
6 ID/serial number Optional: Present-day 51S serial number system, e.g. with safety products or calibrated terminals
7 Variant number
Optional: Product variant 30P number on the basis of standard products
...
Number of digits incl. data identifier 8 12 32
6 14 12
32
Example 1P072222 SBTNk4p562d7 1KEL1809
Q1 2P401503180016 51S678294104
30PF971, 2*K183
Further types of information and data identifiers are used by Beckhoff and serve internal processes.
Structure of the BIC
Example of composite information from item 1 to 4 and 6. The data identifiers are marked in red for better display:
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet coded in the BIC.
NOTE
This information has been carefully prepared. However, the procedure described is constantly being further developed. We reserve the right to revise and change procedures and documentation at any time and without prior notice. No claims for changes can be made from the information, illustrations and descriptions in this information.
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Product overview
3
Product overview
3.1
EL1258, EL1259, EL2258
3.1.1 Introduction
Fig. 10: EL1258
Fig. 11: EL1258-0010 16
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Fig. 12: EL1259
Fig. 13: EL2258
Digital input/output terminals with timestamp
The 8-channel digital input terminal EL1258 records fast binary control signals from the process level and transfers them electrically isolated to the controller. In contrast to the EL1252 with two channels the EL1258 has eight channels and a lower sampling rate. In addition, the EL1258 offers the option of logging several changes of the input signal per PLC cycle and to transfer these to the controller (MultiTimeStamping). The EL1258 is synchronized with other EtherCAT devices through the distributed clocks system, so that events in the whole system can be measured with a uniform timebase. An EL1258-0010 (ground switching) is available as a variant.
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Product overview
The 8-channel digital output terminal EL2258 switches the binary output signals of the controller electrically isolated from the process level. Up to 10 switching orders per PLC cycle can be transferred to the terminal. These are output with an accuracy of up to 10 �s (depending on the selected process image). The distributed clocks are used as time reference. In conjunction with timestamp input terminals the EL2258 enables responses at equidistant intervals that are largely independent of the bus cycle time.
The 16-channel digital EtherCAT Terminal EL1259 combines the function of the EL1258 � eight timestamp inputs � with those of the EL2258 � eight timestamp outputs. The high channel density in conjunction with time stamping of the signals enables fast, efficient processes through optimized sensor and actuator control. The EL1259 is also synchronized with other devices through the distributed clocks system, so that events in the whole system can be measured with a uniform timebase.
Quick-Links
� EtherCAT basics [} 25] � LEDs and connection [} 49] � Commissioning [} 53]
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3.1.2 Technical data
Technical data Digital inputs Digital outputs Connection technology Rated voltage Signal voltage "0"
Signal voltage "1"
Input current
Input filter Distributed Clocks Distributed clock (DC) precision Internal sampling rate/execution Minimum EtherCAT cycle time Load type outputs
Output current
Output stage Reverse polarity protection Breaking energy Switching times outputs
Current consumption of power contacts Supply voltage for electronic Current consumption via E-bus Electrical isolation Configuration Weight Permissible ambient temperature range during operation Permissible ambient temperature range during storage Permissible relative humidity Dimensions (W x H x D) Mounting [} 36] Vibration/shock resistance
EMC immunity/emission Protection class Installation position Approval
EL1258
EL1259
EL1258-0010
EL2258
8
8
8
-
-
8
-
8
2-wire
1-wire
2-wire
2-wire
24 VDC (-15%/+20%)
-3 V ... +5 V (based on EN 61131-2, type 3)
18...30 V
+11 V ... +30 V (based on EN 61131-2, type 3)
0...7 V
typ. 3 mA (based on EN 61131-2, type 3)
3,0 mA typ.
< 1 �s typ.
-
Yes
<< 1 �s
<10 ... <40 �s, depends on PDO configuration ("Microcycle", see notes)
90..540 �s, depends on PDO configuration ("Macrocycle", see notes)
-
ohmic, inductive, lamp -
ohmic, inductive, lamp
load
load
-
max. 0.5 A (short-cir- -
max. 0.5 A (short-cir-
cuit-proof) per chan-
cuit-proof) per chan-
nel
nel
-
Push *)
-
Push *)
-
yes
-
yes
-
< 150 mJ/channel -
< 150 mJ/channel
typ. 6 mA
TON: < 1 �s typ., TOFF: < 1 �s typ. *)
typ. 30 mA + load
typ. 6 mA
TON: < 1 �s typ., TOFF: < 1 �s typ. *)
typ. 30 mA + load
via the E-bus
typ. 130 mA
500 V (E-bus/field voltage)
no address or configuration settings required
approx. 55 g
0�C ... +55�C
-25�C ... +85�C
95%, no condensation approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715
conforms to EN 60068-2-6 / EN 60068-2-27, see also installation instructions for enhanced mechanical load capacity [} 40]
conforms to EN 61000-6-2 / EN 61000-6-4
IP20
variable
CE
CE
CE
UL [} 47]
UL [} 47]
CE UL [} 47]
*) In order to achieve the fastest possible Toff time (negative edge, switch-off), the output must be operated with a load resistor, ideally with a rated load of 0.5 A corresponding to 48 Ohm. The corresponding thermal
load capacity of the resistor must be taken into account.
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Product overview
3.1.3 Technology
Table of contents � Procedure for sampling digital inputs [} 20] � Procedure for sampling digital outputs [} 21] � Multi-timestamp [} 23]
The EL1258, EL1259 and EL2258 EtherCAT terminals make up a family of terminals whose members feature a similar range of functions. These are digital input and output terminals that read in or output 24 V signals. The EL1258 can read in eight channels, while the EL2258 can output eight channels. The EL1259 is the mixed version with 8 input and 8 output channels on an overall width of 12 mm. A characteristic feature of these terminals is the multi-timestamp capability, as an extension to the conventional timestamp function.
It is often of great interest when inputs are read in or outputs are switched in a running application. Three general procedures for considering inputs and outputs are described below:
Procedure for sampling digital inputs � Standard sampling Standard sampling is used for "normal" digital input/output terminals. For the input this means that a 24 V signal (TRUE) or 0 V signal (FALSE) is applied by a sensor (e.g. light barrier). This channel information is queried in the next EtherCAT cycle and transferred to the controller. In addition it means that this signal was applied to the input within the last cycle time and is still present at the time of sampling. However, no statement can be made as to the precise point in time when this edge arrived at the input, or whether short pulses were already present before that.
Fig. 14: Query of input channel information, standard
� In Fig. Query of input channel information, standard pulses A and B are not picked up, only pulse C lasts long enough to be present during sampling (blue), so that the "1" is picked up by the bus cycle. This mode of operation is also called frame-triggered. The time frame for the sampling is thus the task/EtherCAT cycle time employed of e.g. 10 ms or 1 ms. To sample processes in the machine at finer intervals, the cycle time usually has to be reduced to the required or smallest possible value, e.g. 100 �s. However, this entails limitations with regard to the then maximum available computing time and possibly also the EtherCAT data volume within this cycle time. Two technologies are available to remedy this situation: Oversampling and timestamp. In principle, the EtherCAT Terminals EL1258, EL1259 and EL2258 can be used for standard sampling.
� Oversampling Within the specified (configurable) cycle time the input terminals read the input status n times and store the states in an array, which is transferred to the controller based on the bus cycle. The correspondingly finer time frame, the microcycle, thus enables a slow bus cycle time with nevertheless extremely fine sampling. For example, the input terminal EL1262 is capable of 1000-fold oversampling at a 1 �s microcycle.
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Fig. 15: Query of input channel information, oversampling
� In Fig. Query of input channel information, oversampling pulses A and B are also picked up, compared with standard sampling. Over the known microcycle time each individual pulse can be determined from the resulting data stream. However, a constantly high volume of data is transferred with each EtherCAT cycle, even if there are no edge changes at all at the input.
� Timestamp In this mode the input terminal operates only event-based. The edge changes are registered at the input channel. Internally two pieces of information are stored for each event, i.e. the input state 0/1 after the edge change and the exact time of edge change, the timestamp. The time is derived from the synchronized EtherCAT distributed clocks system, which synchronizes all capable EtherCAT devices in the network to a time accuracy of << 1 �s without special configuration (for further information see Basic EtherCAT documentation).
Fig. 16: Query of input channel information, with timestamp
� In Fig. Query of input channel information, with timestamp the rising and the falling edge of pulse A is picked up as event with timestamp and transferred to the controller during the EtherCAT cycle. The time resolution is 1 ns here � an `infinitely' fine time resolution in mechanical terms. The EL1252 can "only" store one falling and one rising edge per cycle � if several edge changes occur, e.g. a rising edge of pulse C, the first or last event is stored, depending on the configuration (see EL1252 documentation). In summary, the oversampling and timestamp procedures provide a significantly finer image of the machine sequence than standard sampling of the digital input.
Procedure for sampling digital outputs
The principles described above can be transferred to digital outputs accordingly.
� Standard sampling A frame-triggered standard output can only switch with the time of each EtherCAT cycle if it receives a new target output state:
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Product overview
Fig. 17: Output of output channel information, standard � In Fig. Output of output channel information, standard the number of switching events is limited to the cycle time and cannot be changed at the actual switching time. For high-speed or high-precision machines this has a significant effect on the maximum possible production speed and manufacturing tolerances. The oversampling and timestamp technologies help here as well. � Oversampling The controller calculates the array of digital 0/1 output data in advance and sends it to the output channel. This successively clocks out the target output states in the fixed microcycle.
Fig. 18: Output of output channel information, oversampling
� This procedure enables a significantly finer time resolution to be achieved for the actuator control, even below the actual cycle time. The digital output terminal EL2262 can achieve a time resolution of 1 �s with 1000-fold oversampling.
� Timestamp With the timestamp principle the controller calculates an exact time at which the output is to switch to a new state 0/1. After this switching order has been transferred, the terminal waits until this time is reached and then switches automatically, independent of the bus cycle. Here too the distributed clocks function is decisive. It synchronizes the local clock that runs in the output terminal.
Fig. 19: Output of output channel information, with timestamp
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� At (A) the controller transfers a switching order consisting of output state and switching time to the output channel; the order is executed at (B) independently of the cycle. The controller can then send a new switching order (C). The `infinitely' fine time resolution of 1 ns applies here as well. In general the digital output terminal EL2252 with oversampling requires two cycles for activating a switching order.
Multi-timestamp
The multi-timestamp capability opens up new application options for digital inputs and outputs:
Inputs EL1258, EL1259 � 8 multi-timestamp channels on an overall width of 12 mm � All channels operate completely independently of one another � Each channel is capable of sampling not only one, but up to 32 signal edges ("events") per cycle � Each channel has its own buffer. Events are held in the buffer, if more signal edge changes arrive at the input during a cycle than are retrieved via the process data. The buffer can be sent continuously to the controller via the cyclic process data. A handshake mode is also possible � thus no signals to the controller are lost in the event of communication errors. � The process data size can be configured individually for each channel, i.e. how many timestamped events per cycle are to be retrieved from the channel by the PLC � These functions require a process image that differs from the previous EL1252. For reasons of compatibility with the existing user software the terminal can be switched to a compatible process image (without the new functions). � Sampling of the input state 0/1 takes place based on a microcycle of several �s, depending on the selected setting, i.e. significantly faster than the EtherCAT bus cycle time � The timestamp allocated to a signal edge detected in this way is the start time of the microcycle in which it was picked up. � An adjustable digital filter can be activated for each channel which blanks signals that are too short (spikes). � In this way significantly more signal changes can be sampled with timestamp during each cycle, and no event information is lost in the buffer.
Fig. 20: Query of input channel information, with multi-timestamp
Outputs EL1259, EL2258 � 8 multi-timestamp channels on an overall width of 12 mm � All channels operate completely independently of one another � Each channel has a buffer and can therefore store not just one switching order, but up to 32 events. Thus several precisely timed switching events can also be specified within a cycle. � In order to transfer switching orders to the channel as quickly as possible, the multi-timestamp function operates with AutoActivation: new switching orders are taken over in each cycle without special activation; however, an optional handshake procedure is also possible here.
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Product overview
� The process data size � i.e. the number of time-stamped switching orders that can be sent by the controller to the channel per cycle � is configurable for each channel.
� These functions require a process image that differs from the previous EL2252. For reasons of compatibility with existing user software the terminal can be switched to a compatible process image (without the new functions).
� The query whether an executable switching order is present in the buffer takes place based on a microcycle of several �s, depending on the selected setting, and is therefore significantly faster than the EtherCAT bus cycle time. Thus several timestamp switching orders are also possible per bus cycle.
� In order to test the actuator connected to the output channel, the output can also be switched manually via the CoE, i.e. without timestamps.
� Thus virtually any desired number of switching orders can now be output per channel within the framework of the microcycle, both `immediately' for the following cycle (A) and also through the buffer for later cycles (B).
Fig. 21: Output of output channel information, with multi-timestamp
3.2
Start
For commissioning: � mount the EL125x, EL2258 as described in the chapter Mounting and wiring [} 36] � configure the EL125x, EL2258 in TwinCAT as described in the chapter Commissioning [} 53].
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4
Basics communication
Basics communication
4.1
EtherCAT basics
Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics.
4.2
EtherCAT cabling � wire-bound
The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design recommendations for the infrastructure for EtherCAT/Ethernet.
Cables and connectors
For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires for signal transfer.
EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet standard (ISO/IEC 8802-3).
Pin
Color of conductor
Signal
Description
1
yellow
TD +
Transmission Data +
2
orange
TD -
Transmission Data -
3
white
RD +
Receiver Data +
6
blue
RD -
Receiver Data -
Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between EtherCAT devices from Beckhoff.
Recommended cables
It is recommended to use the appropriate Beckhoff components e.g. - cable sets ZK1090-9191-xxxx respectively - RJ45 connector, field assembly ZS1090-0005 - EtherCAT cable, field assembly ZB9010, ZB9020
Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website!
E-Bus supply
A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a rule (see details in respective device documentation). Information on how much current each EL terminal requires from the E-bus supply is available online and in the catalogue. If the added terminals require more current than the coupler can supply, then power feed terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.
The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. A shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be placed before such a position.
EL125x, EL2258
Version: 2.8
25
Basics communication
Fig. 22: System manager current calculation
NOTE Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!
4.3
General notes for setting the watchdog
ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a specifiable time e.g. in the event of an interruption of the process data traffic, depending on the device and settings, e.g. in OFF state.
The EtherCAT slave controller (ESC) in the EL2xxx terminals features two watchdogs:
� SM watchdog (default: 100 ms) � PDI watchdog (default: 100 ms)
SM watchdog (SyncManager Watchdog)
The SyncManager watchdog is reset after each successful EtherCAT process data communication with the terminal. If no EtherCAT process data communication takes place with the terminal for longer than the set and activated SM watchdog time, e.g. in the event of a line interruption, the watchdog is triggered and the outputs are set to FALSE. The OP state of the terminal is unaffected. The watchdog is only reset after a successful EtherCAT process data access. Set the monitoring time as described below.
The SyncManager watchdog monitors correct and timely process data communication with the ESC from the EtherCAT side.
PDI watchdog (Process Data Watchdog)
If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and activated PDI watchdog time, this watchdog is triggered. PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT slave, for example. The PDI watchdog can be used to monitor this communication for failure.
The PDI watchdog monitors correct and timely process data communication with the ESC from the application side.
The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System Manager.
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Fig. 23: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog
Notes: � the multiplier is valid for both watchdogs. � each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a resulting time. � Important: the multiplier/timer setting is only loaded into the slave at the start up, if the checkbox is activated. If the checkbox is not activated, nothing is downloaded and the ESC settings remain unchanged.
Multiplier
Multiplier
Both watchdogs receive their pulses from the local terminal cycle, divided by the watchdog multiplier:
1/25 MHz * (watchdog multiplier + 2) = 100 �s (for default setting of 2498 for the multiplier)
The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms.
The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick. The multiplier can be modified in order to adjust the watchdog time over a larger range.
EL125x, EL2258
Version: 2.8
27
Basics communication
Example "Set SM watchdog"
This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased. This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The default SM watchdog setting is 100 ms. The setting range is 0...65535. Together with a multiplier with a range of 1...65535 this covers a watchdog period between 0...~170 seconds.
Calculation
Multiplier = 2498 watchdog base time = 1 / 25 MHz * (2498 + 2) = 0.0001 seconds = 100 �s SM watchdog = 10000 10000 * 100 �s = 1 second watchdog monitoring time
CAUTION Undefined state possible!
The function for switching off of the SM watchdog via SM watchdog = 0 is only implemented in terminals from version -0016. In previous versions this operating mode should not be used.
CAUTION Damage of devices and undefined state possible!
If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state, if the communication is interrupted.
4.4
EtherCAT State Machine
The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states: � Init � Pre-Operational � Safe-Operational and � Operational � Boot
The regular state of each EtherCAT slave after bootup is the OP state.
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Fig. 24: States of the EtherCAT State Machine
Init
After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.
Pre-Operational (Pre-Op)
During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly.
In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters that may differ from the default settings are also transferred.
Safe-Operational (Safe-Op)
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager channels for process data communication and, if required, the distributed clocks settings are correct. Before it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DPRAM areas of the EtherCAT slave controller (ECSC).
In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs in a safe state, while the input data are updated cyclically.
Outputs in SAFEOP state
The default set watchdog [} 26] monitoring sets the outputs of the module in a safe state - depending on the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by deactivation of the watchdog monitoring in the module, the outputs can be switched or set also in the SAFEOP state.
Operational (Op)
Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output data.
In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox communication is possible.
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Version: 2.8
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Basics communication
Boot In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state. In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no other mailbox communication and no process data communication.
4.5
CoE Interface
General description
The CoE interface (CAN application protocol over EtherCAT)) is used for parameter management of EtherCAT devices. EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they require for operation, diagnostics or commissioning.
CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus. The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via EtherCAT in read or write mode, depending on the attributes.
Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger byte fields. They can be used to describe a wide range of features. Examples of such parameters include manufacturer ID, serial number, process data settings, device name, calibration values for analog measurement or passwords.
The order is specified in two levels via hexadecimal numbering: (main)index, followed by subindex. The value ranges are
� Index: 0x0000 ...0xFFFF (0...65535dez) � SubIndex: 0x00...0xFF (0...255dez)
A parameter localized in this way is normally written as 0x8010:07, with preceding "0x" to identify the hexadecimal numerical range and a colon between index and subindex.
The relevant ranges for EtherCAT fieldbus users are:
� 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer, serial number etc., plus information about the current and available process data configurations.
� 0x8000: This is where the operational and functional parameters for all channels are stored, such as filter settings or output frequency.
Other important ranges are:
� 0x4000: here are the channel parameters for some EtherCAT devices. Historically, this was the first parameter area before the 0x8000 area was introduced. EtherCAT devices that were previously equipped with parameters in 0x4000 and changed to 0x8000 support both ranges for compatibility reasons and mirror internally.
� 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master) � 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor usually have no variable parameters and therefore no CoE list.
If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the elements:
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Basics communication
Fig. 25: "CoE Online" tab
The figure above shows the CoE objects available in device "EL2502", ranging from 0x1000 to 0x1600. The subindices for 0x1018 are expanded.
Data management and function "NoCoeStorage"
Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can be done in write or read mode
� via the System Manager (Fig. "CoE Online" tab) by clicking This is useful for commissioning of the system/slaves. Click on the row of the index to be parameterized and enter a value in the "SetValue" dialog.
� from the control system/PLC via ADS, e.g. through blocks from the TcEtherCAT.lib library This is recommended for modifications while the system is running or if no System Manager or operating staff are available.
Data management
If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-safe manner in the EEPROM, i.e. the modified CoE parameters are still available after a restart. The situation may be different with other manufacturers.
An EEPROM is subject to a limited lifetime with respect to write operations. From typically 100,000 write operations onwards it can no longer be guaranteed that new (changed) data are reliably saved or are still readable. This is irrelevant for normal commissioning. However, if CoE parameters are continuously changed via ADS at machine runtime, it is quite possible for the lifetime limit to be reached. Support for the NoCoeStorage function, which suppresses the saving of changed CoE values, depends on the firmware version. Please refer to the technical data in this documentation as to whether this applies to the respective device.
� If the function is supported: the function is activated by entering the code word 0x12345678 once in CoE 0xF008 and remains active as long as the code word is not changed. After switching the device on it is then inactive. Changed CoE values are not saved in the EEPROM and can thus be changed any number of times.
� Function is not supported: continuous changing of CoE values is not permissible in view of the lifetime limit.
EL125x, EL2258
Version: 2.8
31
Basics communication
Startup list
Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is replaced with a new Beckhoff terminal, it will have the default settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is processed whenever the EtherCAT fieldbus is started. In this way a replacement EtherCAT slave can automatically be parameterized with the specifications of the user. If EtherCAT slaves are used which are unable to store local CoE values permanently, the Startup list must be used.
Recommended approach for manual modification of CoE parameters � Make the required change in the System Manager The values are stored locally in the EtherCAT slave � If the value is to be stored permanently, enter it in the Startup list. The order of the Startup entries is usually irrelevant.
Fig. 26: Startup list in the TwinCAT System Manager
The Startup list may already contain values that were configured by the System Manager based on the ESI specifications. Additional application-specific entries can be created.
Online/offline list
While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT device is "available", i.e. switched on and linked via EtherCAT and therefore online, or whether a configuration is created offline without connected slaves.
In both cases a CoE list as shown in Fig. "CoE online tab" is displayed. The connectivity is shown as offline/ online.
� If the slave is offline The offline list from the ESI file is displayed. In this case modifications are not meaningful or possible. The configured status is shown under Identity. No firmware or hardware version is displayed, since these are features of the physical device. Offline is shown in red.
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Fig. 27: Offline list
� If the slave is online The actual current slave list is read. This may take several seconds, depending on the size and cycle time. The actual identity is displayed The firmware and hardware version of the equipment according to the electronic information is displayed Online is shown in green.
Fig. 28: Online list
EL125x, EL2258
Version: 2.8
33
Basics communication
Channel-based order
The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels. For example, a 4-channel analog 0...10 V input terminal also has four logical channels and therefore four identical sets of parameter data for the channels. In order to avoid having to list each channel in the documentation, the placeholder "n" tends to be used for the individual channel numbers.
In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel parameters. The channel-based order is therefore arranged in 16dec/10hex steps. The parameter range 0x8000 exemplifies this:
� Channel 0: parameter range 0x8000:00 ... 0x800F:255 � Channel 1: parameter range 0x8010:00 ... 0x801F:255 � Channel 2: parameter range 0x8020:00 ... 0x802F:255 � ...
This is generally written as 0x80n0.
Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website.
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4.6
Distributed Clock
The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following characteristics:
� Unit 1 ns
� Zero point 1.1.2000 00:00
� Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support, i.e. the variable overflows after approx. 4.2 seconds)
� The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of < 100 ns.
For detailed information please refer to the EtherCAT system description.
EL125x, EL2258
Version: 2.8
35
Mounting and wiring
5
Mounting and wiring
5.1
Instructions for ESD protection
NOTE Destruction of the devices by electrostatic discharge possible!
The devices contain components at risk from electrostatic discharge caused by improper handling. � Please ensure you are electrostatically discharged and avoid touching the contacts of the device directly. � Avoid contact with highly insulating materials (synthetic fibers, plastic film etc.). � Surroundings (working place, packaging and personnel) should by grounded probably, when handling
with the devices.
� Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to ensure the protection class and ESD protection.
Fig. 29: Spring contacts of the Beckhoff I/O components
5.2
Installation on mounting rails
WARNING
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals!
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Version: 2.8
EL125x, EL2258
Assembly
Mounting and wiring
Fig. 30: Attaching on mounting rail
The bus coupler and bus terminals are attached to commercially available 35 mm mounting rails (DIN rails according to EN 60715) by applying slight pressure:
1. First attach the fieldbus coupler to the mounting rail. 2. The bus terminals are now attached on the right-hand side of the fieldbus coupler. Join the compo-
nents with tongue and groove and push the terminals against the mounting rail, until the lock clicks onto the mounting rail. If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove, the connection will not be operational! When correctly assembled, no significant gap should be visible between the housings.
Fixing of mounting rails
The locking mechanism of the terminals and couplers extends to the profile of the mounting rail. At the installation, the locking mechanism of the components must not come into conflict with the fixing bolts of the mounting rail. To mount the mounting rails with a height of 7.5 mm under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
EL125x, EL2258
Version: 2.8
37
Mounting and wiring Disassembly
Fig. 31: Disassembling of terminal
Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:
1. Pull the terminal by its orange-colored lugs approximately 1 cm away from the mounting rail. In doing so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of the bus terminal block easily without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved housing surfaces and pull the terminal out of the bus terminal block.
Connections within a bus terminal block
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by joining the components:
� The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus Terminal electronics.
� The power contacts deal with the supply for the field electronics and thus represent a supply rail within the bus terminal block. The power contacts are supplied via terminals on the Bus Coupler (up to 24 V) or for higher voltages via power feed terminals.
Power Contacts
During the design of a bus terminal block, the pin assignment of the individual Bus Terminals must be taken account of, since some types (e.g. analog Bus Terminals or digital 4-channel Bus Terminals) do not or not fully loop through the power contacts. Power Feed Terminals (KL91xx, KL92xx or EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new supply rail.
PE power contact
The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first when plugging together, and can ground short-circuit currents of up to 125 A.
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EL125x, EL2258
Mounting and wiring
Fig. 32: Power contact on left side
NOTE Possible damage of the device
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V). For insulation testing, disconnect the PE supply line at the Bus Coupler or the Power Feed Terminal! In order to decouple further feed points for testing, these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals.
WARNING Risk of electric shock!
The PE power contact must not be used for other potentials!
EL125x, EL2258
Version: 2.8
39
Mounting and wiring
5.3
Installation instructions for enhanced mechanical load
capacity
WARNING
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminal system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals!
Additional checks
The terminals have undergone the following additional tests:
Verification Explanation
Vibration 10 frequency runs in 3 axes
6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude
60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude
Shocks
1000 shocks in each direction, in 3 axes
25 g, 6 ms
Additional installation instructions
For terminals with enhanced mechanical load capacity, the following additional installation instructions apply:
� The enhanced mechanical load capacity is valid for all permissible installation positions � Use a mounting rail according to EN 60715 TH35-15 � Fix the terminal segment on both sides of the mounting rail with a mechanical fixture, e.g. an earth
terminal or reinforced end clamp � The maximum total extension of the terminal segment (without coupler) is:
64 terminals (12 mm mounting with) or 32 terminals (24 mm mounting with) � Avoid deformation, twisting, crushing and bending of the mounting rail during edging and installation of
the rail � The mounting points of the mounting rail must be set at 5 cm intervals � Use countersunk head screws to fasten the mounting rail � The free length between the strain relief and the wire connection should be kept as short as possible. A
distance of approx. 10 cm should be maintained to the cable duct.
5.4
Connection
5.4.1 Connection system
WARNING Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals!
Overview
The bus terminal system offers different connection options for optimum adaptation to the respective application:
� The terminals of ELxxxx and KLxxxx series with standard wiring include electronics and connection level in a single enclosure.
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Mounting and wiring
� The terminals of ESxxxx and KSxxxx series feature a pluggable connection level and enable steady wiring while replacing.
� The High Density Terminals (HD Terminals) include electronics and connection level in a single enclosure and have advanced packaging density.
Standard wiring (ELxxxx / KLxxxx)
Fig. 33: Standard wiring The terminals of ELxxxx and KLxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly. Pluggable wiring (ESxxxx / KSxxxx)
Fig. 34: Pluggable wiring The terminals of ESxxxx and KSxxxx series feature a pluggable connection level. The assembly and wiring procedure is the same as for the ELxxxx and KLxxxx series. The pluggable connection level enables the complete wiring to be removed as a plug connector from the top of the housing for servicing. The lower section can be removed from the terminal block by pulling the unlocking tab. Insert the new component and plug in the connector with the wiring. This reduces the installation time and eliminates the risk of wires being mixed up. The familiar dimensions of the terminal only had to be changed slightly. The new connector adds about 3 mm. The maximum height of the terminal remains unchanged. A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual connection wires when the connector is removed. Conductor cross sections between 0.08 mm2 and 2.5 mm2 can continue to be used with the proven spring force technology. The overview and nomenclature of the product names for ESxxxx and KSxxxx series has been retained as known from ELxxxx and KLxxxx series.
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Version: 2.8
41
Mounting and wiring
High Density Terminals (HD Terminals)
Fig. 35: High Density Terminals The terminals from these series with 16 terminal points are distinguished by a particularly compact design, as the packaging density is twice as large as that of the standard 12 mm bus terminals. Massive conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal point without tools.
Wiring HD Terminals
The High Density Terminals of the ELx8xx and KLx8xx series doesn't support pluggable wiring.
Ultrasonically "bonded" (ultrasonically welded) conductors
Ultrasonically "bonded" conductors
It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded" (ultrasonically welded) conductors. In this case, please note the tables concerning the wire-size width!
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EL125x, EL2258
Mounting and wiring
5.4.2 Wiring
WARNING Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals!
Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx
Fig. 36: Connecting a cable on a terminal point
Up to eight terminal points enable the connection of solid or finely stranded cables to the bus terminal. The terminal points are implemented in spring force technology. Connect the cables as follows:
1. Open a terminal point by pushing a screwdriver straight against the stop into the square opening above the terminal point. Do not turn the screwdriver or move it alternately (don't toggle).
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal point closes automatically when the pressure is released, holding the wire securely and permanently.
See the following table for the suitable wire size width.
Terminal housing Wire size width (single core wires) Wire size width (fine-wire conductors) Wire size width (conductors with a wire end sleeve) Wire stripping length
ELxxxx, KLxxxx 0.08 ... 2.5 mm2 0.08 ... 2.5 mm2 0.14 ... 1.5 mm2 8 ... 9 mm
ESxxxx, KSxxxx 0.08 ... 2.5 mm2 0,08 ... 2.5 mm2 0.14 ... 1.5 mm2 9 ... 10 mm
High Density Terminals (HD Terminals [} 42]) with 16 terminal points
The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct plug-in technique, i.e. after stripping the wire is simply plugged into the terminal point. The cables are released, as usual, using the contact release with the aid of a screwdriver. See the following table for the suitable wire size width.
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Version: 2.8
43
Mounting and wiring
Terminal housing Wire size width (single core wires) Wire size width (fine-wire conductors) Wire size width (conductors with a wire end sleeve) Wire size width (ultrasonically "bonded" conductors) Wire stripping length
High Density Housing 0.08 ... 1.5 mm2 0.25 ... 1.5 mm2 0.14 ... 0.75 mm2 only 1.5 mm2 8 ... 9 mm
5.4.3 Shielding
Shielding
Encoder, analog sensors and actors should always be connected with shielded, twisted paired wires.
5.5
Installation positions
NOTE
Constraints regarding installation position and operating temperature range
Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the installation position and/or the operating temperature range have been specified. When installing high power dissipation terminals ensure that an adequate spacing is maintained between other components above and below the terminal in order to guarantee adequate ventilation!
Optimum installation position (standard)
The optimum installation position requires the mounting rail to be installed horizontally and the connection surfaces of the EL/KL terminals to face forward (see Fig. Recommended distances for standard installation position). The terminals are ventilated from below, which enables optimum cooling of the electronics through convection. "From below" is relative to the acceleration of gravity.
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Mounting and wiring
Fig. 37: Recommended distances for standard installation position
Compliance with the distances shown in Fig. Recommended distances for standard installation position is recommended.
Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail - see Fig Other installation positions. The minimum distances to ambient specified above also apply to these installation positions.
EL125x, EL2258
Version: 2.8
45
Mounting and wiring Fig. 38: Other installation positions
46
Version: 2.8
EL125x, EL2258
Mounting and wiring
5.6
Positioning of passive Terminals
Hint for positioning of passive terminals in the bus terminal block
EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer within the bus terminal block are so called passive terminals. The passive terminals have no current consumption out of the E-Bus. To ensure an optimal data transfer, you must not directly string together more than two passive terminals!
Examples for positioning of passive terminals (highlighted)
Fig. 39: Correct positioning
Fig. 40: Incorrect positioning
5.7
UL notice
Application
Beckhoff EtherCAT modules are intended for use with Beckhoff's UL Listed EtherCAT System only.
Examination
For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142).
EL125x, EL2258
Version: 2.8
47
Mounting and wiring
For devices with Ethernet connectors
Not for connection to telecommunication circuits.
Basic principles UL certification according to UL508. Devices with this kind of certification are marked by this sign:
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EL125x, EL2258
Mounting and wiring
5.8
EL1258-00x0, EL1259, EL2258 - LEDs and connection
Table of contents
� LEDs and connection EL1258 [} 49] � LEDs and connection EL1258-0010 [} 50] � LEDs and connection EL1259 [} 51] � LEDs and connection EL2258 [} 52]
EL1258
Fig. 41: EL1258
LED INPUT 1- 8
Color green
Meaning off on
There is no input signal at the respective input Input signal at the respective input
Connection EL1258
Terminal point Name Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 +24 V
No. 1 2 3 4 5 6 7 8 9-16
Description
Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 + 24 V (internal connection of terminal points 9 -16 and positive power contact)
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Mounting and wiring EL1258-0010
Fig. 42: EL1258-0010
LED INPUT 1- 8
Color green
Meaning off on
There is no input signal at the respective input Input signal at the respective input
Connection EL1258-0010
Terminal point Name Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 0 V
No. 1 2 3 4 5 6 7 8 9-16
Description
Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 0 V (internal connection of terminal points 9 -16 and negative power contact)
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EL1259
Mounting and wiring
Fig. 43: EL1259
LED
Color
INPUT 1- 8
green
(Signal LEDs 1 - 8)
OUTPUT 1- 8 (Signal LEDs 9 16)
green
Meaning off on off on
There is no input signal at the respective input Input signal at the respective input No output signal is present at the respective output Input signal at the respective input
Connection EL1259
Terminal point
Name
No.
Input 1
1
Input 2
2
Input 3
3
Input 4
4
Input 5
5
Input 6
6
Input 7
7
Input 8
8
Output 1
9
Output 2
10
Output 3
11
Output 4
12
Output 5
13
Output 6
14
Output 7
15
Output 8
16
Description
Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8
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Mounting and wiring EL2258
Fig. 44: EL2258
LED OUTPUT 1- 8
Color green
Meaning off on
There is no output signal at the respective input Output signal at the respective input
Connection EL2258
Terminal point Name Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 0 V
No. 1 2 3 4 5 6 7 8 9-16
Description
Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 + 0 V (internal connection of terminal points 9 -16 and negative power contact)
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Commissioning
Commissioning
6.1
TwinCAT Quick Start
TwinCAT is a development environment for real-time control including multi-PLC system, NC axis control, programming and operation. The whole system is mapped through this environment and enables access to a programming environment (including compilation) for the controller. Individual digital or analog inputs or outputs can also be read or written directly, in order to verify their functionality, for example.
For further information please refer to http://infosys.beckhoff.com:
� EtherCAT Systemmanual: Fieldbus Components EtherCAT Terminals EtherCAT System Documentation Setup in the TwinCAT System Manager
� TwinCAT 2 TwinCAT System Manager I/O - Configuration � In particular, TwinCAT driver installation:
Fieldbus components Fieldbus Cards and Switches FC900x � PCI Cards for Ethernet Installation
Devices contain the terminals for the actual configuration. All configuration data can be entered directly via editor functions (offline) or via the "Scan" function (online):
� "offline": The configuration can be customized by adding and positioning individual components. These can be selected from a directory and configured.
The procedure for offline mode can be found under http://infosys.beckhoff.com: TwinCAT 2 TwinCAT System Manager IO - Configuration Adding an I/O Device
� "online": The existing hardware configuration is read
See also http://infosys.beckhoff.com: Fieldbus components Fieldbus cards and switches FC900x � PCI Cards for Ethernet Installation Searching for devices
The following relationship is envisaged from user PC to the individual control elements:
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Commissioning
Fig. 45: Relationship between user side (commissioning) and installation
The user inserting of certain components (I/O device, terminal, box...) is the same in TwinCAT 2 and TwinCAT 3. The descriptions below relate to the online procedure.
Sample configuration (actual configuration)
Based on the following sample configuration, the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3:
� Control system (PLC) CX2040 including CX2100-0004 power supply unit � Connected to the CX2040 on the right (E-bus):
EL1004 (4-channel digital input terminal 24 VDC) � Linked via the X001 port (RJ-45): EK1100 EtherCAT Coupler � Connected to the EK1100 EtherCAT coupler on the right (E-bus):
EL2008 (8-channel digital output terminal 24 VDC; 0.5 A) � (Optional via X000: a link to an external PC for the user interface)
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Fig. 46: Control configuration with Embedded PC, input (EL1004) and output (EL2008) Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the right, in which case the EK1100 coupler wouldn't be necessary.
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Commissioning
6.1.1 TwinCAT 2
Startup TwinCAT basically uses two user interfaces: the TwinCAT System Manager for communication with the electromechanical components and TwinCAT PLC Control for the development and compilation of a controller. The starting point is the TwinCAT System Manager. After successful installation of the TwinCAT system on the PC to be used for development, the TwinCAT 2 System Manager displays the following user interface after startup:
Fig. 47: Initial TwinCAT 2 user interface
Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 58]".
If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system, the target system must be made known first. In the menu under
"Actions" "Choose Target System...", via the symbol "
" or the "F8" key, open the following window:
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Fig. 48: Selection of the target system Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either:
� enter the known computer name after "Enter Host Name / IP:" (as shown in red) � perform a "Broadcast Search" (if the exact computer name is not known) � enter the known computer IP or AmsNetID.
Fig. 49: Specify the PLC for access by the TwinCAT System Manager: selection of the target system Once the target system has been entered, it is available for selection as follows (a password may have to be entered):
After confirmation with "OK" the target system can be accessed via the System Manager.
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Commissioning
Adding devices
In the configuration tree of the TwinCAT 2 System Manager user interface on the left, select "I/O Devices" and then right-click to open a context menu and select "Scan Devices...", or start the action in the menu bar
via
. The TwinCAT System Manager may first have to be set to "Config mode" via
"Actions" "Set/Reset TwinCAT to Config Mode..." (Shift + F4).
or via menu
Fig. 50: Select "Scan Devices..." Confirm the warning message, which follows, and select "EtherCAT" in the dialog:
Fig. 51: Automatic detection of I/O devices: selection the devices to be integrated
Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged.
Based on the sample configuration [} 54] described at the beginning of this section, the result is as follows:
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Fig. 52: Mapping of the configuration in the TwinCAT 2 System Manager The whole process consists of two stages, which may be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by selecting "Device ..." from the context menu, which then reads the elements present in the configuration below:
Fig. 53: Reading of individual terminals connected to a device
This functionality is useful if the actual configuration is modified at short notice.
Programming and integrating the PLC TwinCAT PLC Control is the development environment for the creation of the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two textbased languages and three graphical languages.
� Text-based languages Instruction List (IL)
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Commissioning Structured Text (ST)
� Graphical languages Function Block Diagram (FBD) Ladder Diagram (LD) The Continuous Function Chart Editor (CFC) Sequential Function Chart (SFC)
The following section refers to Structured Text (ST). After starting TwinCAT PLC Control, the following user interface is shown for an initial project:
Fig. 54: TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name "PLC_example.pro":
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Fig. 55: Sample program with variables after a compile process (without variable integration)
Warning 1990 (missing "VAR_CONFIG") after a compile process indicates that the variables defined as external (with the ID "AT%I*" or "AT%Q*") have not been assigned. After successful compilation, TwinCAT PLC Control creates a "*.tpy" file in the directory in which the project was stored. This file ("*.tpy") contains variable assignments and is not known to the System Manager, hence the warning. Once the System Manager has been notified, the warning no longer appears.
First, integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC configuration; right-click and select "Append PLC Project...":
Fig. 56: Appending the TwinCAT PLC Control project
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Commissioning Select the PLC configuration "PLC_example.tpy" in the browser window that opens. The project including the two variables identified with "AT" are then integrated in the configuration tree of the System Manager:
Fig. 57: PLC project integrated in the PLC configuration of the System Manager The two variables "bEL1004_Ch4" and "nEL2008_value" can now be assigned to certain process objects of the I/O configuration. Assigning variables Open a window for selecting a suitable process object (PDO) via the context menu of a variable of the integrated project "PLC_example" and via "Modify Link..." "Standard":
Fig. 58: Creating the links between PLC variables and process objects
In the window that opens, the process object for the variable "bEL1004_Ch4" of type BOOL can be selected from the PLC configuration tree:
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Fig. 59: Selecting PDO of type BOOL
According to the default setting, certain PDO objects are now available for selection. In this sample the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable. The following diagram shows the whole process:
Fig. 60: Selecting several PDOs simultaneously: activate "Continuous" and "All types"
Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte
corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) at the yellow or red object of the variable indicates that a link exists. The links can also be checked by selecting a "Goto Link Variable" from the context menu of a variable. The object opposite, in this case the PDO, is automatically selected:
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Commissioning
Fig. 61: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample The process of assigning variables to the PDO is completed via the menu selection "Actions" "Generate
Mappings", key Ctrl+M or by clicking on the symbol This can be visualized in the configuration:
in the menu.
The process of creating links can also take place in the opposite direction, i.e. starting with individual PDOs to variable. However, in this example it would then not be possible to select all output bits for the EL2008, since the terminal only makes individual digital outputs available. If a terminal has a byte, word, integer or similar PDO, it is possible to allocate this a set of bit-standardized variables (type "BOOL"). Here, too, a "Goto Link Variable" from the context menu of a PDO can be executed in the other direction, so that the respective PLC instance can then be selected.
Activation of the configuration
The allocation of PDO to PLC variables has now established the connection from the controller to the inputs and outputs of the terminals. The configuration can now be activated. First, the configuration can be verified
via
(or via "Actions" "Check Configuration"). If no error is present, the configuration can be
activated via
(or via "Actions" "Activate Configuration...") to transfer the System Manager settings
to the runtime system. Confirm the messages "Old configurations are overwritten!" and "Restart TwinCAT
system in Run mode" with "OK".
A few seconds later the real-time status
is displayed at the bottom right in the System Manager.
The PLC system can then be started as described below.
Starting the controller
Starting from a remote system, the PLC control has to be linked with the Embedded PC over Ethernet via "Online" "Choose Run-Time System...":
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Fig. 62: Choose target system (remote) In this sample "Runtime system 1 (port 801)" is selected and confirmed. Link the PLC with the real-time
system via menu option "Online" "Login", the F11 key or by clicking on the symbol
. The control
program can then be loaded for execution. This results in the message "No program on the controller!
Should the new program be loaded?", which should be acknowledged with "Yes". The runtime environment
is ready for the program start:
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Commissioning
Fig. 63: PLC Control logged in, ready for program startup
The PLC can now be started via "Online" "Run", F5 key or
.
6.1.2 TwinCAT 3
Startup
TwinCAT makes the development environment areas available together with Microsoft Visual Studio: after startup, the project folder explorer appears on the left in the general window area (cf. "TwinCAT System Manager" of TwinCAT 2) for communication with the electromechanical components.
After successful installation of the TwinCAT system on the PC to be used for development, TwinCAT 3 (shell) displays the following user interface after startup:
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Commissioning
Fig. 64: Initial TwinCAT 3 user interface
First create a new project via
(or under "File""New" "Project..."). In the
following dialog make the corresponding entries as required (as shown in the diagram):
Fig. 65: Create new TwinCAT project The new project is then available in the project folder explorer:
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Commissioning
Fig. 66: New TwinCAT3 project in the project folder explorer Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 69]". If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system, the target system must be made known first. Via the symbol in the menu bar:
expand the pull-down menu:
and open the following window:
Fig. 67: Selection dialog: Choose the target system
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Commissioning
Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either: � enter the known computer name after "Enter Host Name / IP:" (as shown in red) � perform a "Broadcast Search" (if the exact computer name is not known) � enter the known computer IP or AmsNetID.
Fig. 68: Specify the PLC for access by the TwinCAT System Manager: selection of the target system
Once the target system has been entered, it is available for selection as follows (a password may have to be entered):
After confirmation with "OK" the target system can be accessed via the Visual Studio shell. Adding devices In the project folder explorer of the Visual Studio shell user interface on the left, select "Devices" within
element "I/O", then right-click to open a context menu and select "Scan" or start the action via
in the
menu bar. The TwinCAT System Manager may first have to be set to "Config mode" via menu "TwinCAT" "Restart TwinCAT (Config mode)".
or via the
Fig. 69: Select "Scan" Confirm the warning message, which follows, and select "EtherCAT" in the dialog:
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Version: 2.8
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Commissioning
Fig. 70: Automatic detection of I/O devices: selection the devices to be integrated Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged. Based on the sample configuration [} 54] described at the beginning of this section, the result is as follows:
Fig. 71: Mapping of the configuration in VS shell of the TwinCAT3 environment
The whole process consists of two stages, which may be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by selecting "Device ..." from the context menu, which then reads the elements present in the configuration below:
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Fig. 72: Reading of individual terminals connected to a device
This functionality is useful if the actual configuration is modified at short notice.
Programming the PLC
TwinCAT PLC Control is the development environment for the creation of the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two textbased languages and three graphical languages.
� Text-based languages Instruction List (IL) Structured Text (ST)
� Graphical languages Function Block Diagram (FBD) Ladder Diagram (LD) The Continuous Function Chart Editor (CFC) Sequential Function Chart (SFC)
The following section refers to Structured Text (ST).
In order to create a programming environment, a PLC subproject is added to the project sample via the context menu of "PLC" in the project folder explorer by selecting "Add New Item....":
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Commissioning
Fig. 73: Adding the programming environment in "PLC" In the dialog that opens select "Standard PLC project" and enter "PLC_example" as project name, for example, and select a corresponding directory:
Fig. 74: Specifying the name and directory for the PLC programming environment
The "Main" program, which already exists by selecting "Standard PLC project", can be opened by doubleclicking on "PLC_example_project" in "POUs". The following user interface is shown for an initial project:
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Fig. 75: Initial "Main" program of the standard PLC project To continue, sample variables and a sample program have now been created:
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Commissioning
Fig. 76: Sample program with variables after a compile process (without variable integration) The control program is now created as a project folder, followed by the compile process:
Fig. 77: Start program compilation
The following variables, identified in the ST/ PLC program with "AT%", are then available in under "Assignments" in the project folder explorer:
Assigning variables
Via the menu of an instance - variables in the "PLC" context, use the "Modify Link..." option to open a window for selecting a suitable process object (PDO) for linking:
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Fig. 78: Creating the links between PLC variables and process objects In the window that opens, the process object for the variable "bEL1004_Ch4" of type BOOL can be selected from the PLC configuration tree:
Fig. 79: Selecting PDO of type BOOL
According to the default setting, certain PDO objects are now available for selection. In this sample the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable. The following diagram shows the whole process:
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Version: 2.8
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Commissioning
Fig. 80: Selecting several PDOs simultaneously: activate "Continuous" and "All types" Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) at the yellow or red object of the variable indicates that a link exists. The links can also be checked by selecting a "Goto Link Variable" from the context menu of a variable. The object opposite, in this case the PDO, is automatically selected:
Fig. 81: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample
The process of creating links can also take place in the opposite direction, i.e. starting with individual PDOs to variable. However, in this example it would then not be possible to select all output bits for the EL2008, since the terminal only makes individual digital outputs available. If a terminal has a byte, word, integer or
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Commissioning similar PDO, it is possible to allocate this a set of bit-standardized variables (type "BOOL"). Here, too, a "Goto Link Variable" from the context menu of a PDO can be executed in the other direction, so that the respective PLC instance can then be selected.
Note on the type of variable assignment
The following type of variable assignment can only be used from TwinCAT version V3.1.4024.4 onwards and is only available for terminals with a microcontroller. In TwinCAT it is possible to create a structure from the mapped process data of a terminal. An instance of this structure can then be created in the PLC, so it is possible to access the process data directly from the PLC without having to declare own variables. The procedure for the EL3001 1-channel analog input terminal -10...+10 V is shown as an example. 1. First the required process data must be selected in the "Process data" tab in TwinCAT. 2. After that, the PLC data type must be generated in the tab "PLC" via the check box. 3. The data type in the "Data Type" field can then be copied using the "Copy" button.
Fig. 82: Creating a PLC data type 4. An instance of the data structure of the copied data type must then be created in the PLC.
Fig. 83: Instance_of_struct 5. Then the project folder must be created. This can be done either via the key combination "CTRL + Shift + B" or via the "Build" tab in TwinCAT. 6. The structure in the "PLC" tab of the terminal must then be linked to the created instance.
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Commissioning
Fig. 84: Linking the structure 7. In the PLC the process data can then be read or written via the structure in the program code.
Fig. 85: Reading a variable from the structure of the process data
Activation of the configuration The allocation of PDO to PLC variables has now established the connection from the controller to the inputs
and outputs of the terminals. The configuration can now be activated with
or via the menu under
"TwinCAT" in order to transfer settings of the development environment to the runtime system. Confirm the
messages "Old configurations are overwritten!" and "Restart TwinCAT system in Run mode" with "OK". The
corresponding assignments can be seen in the project folder explorer:
A few seconds later the corresponding status of the Run mode is displayed in the form of a rotating symbol
at the bottom right of the VS shell development environment. The PLC system can then be started as described below.
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Starting the controller
Commissioning
Select the menu option "PLC" "Login" or click on
to link the PLC with the real-time system and load
the control program for execution. This results in the message No program on the controller! Should the new
program be loaded?, which should be acknowledged with "Yes". The runtime environment is ready for
program start by click on symbol , the "F5" key or via "PLC" in the menu selecting "Start". The started programming environment shows the runtime values of individual variables:
Fig. 86: TwinCAT development environment (VS shell): logged-in, after program startup
The two operator control elements for stopping
and logout
result in the required action
(accordingly also for stop "Shift + F5", or both actions can be selected via the PLC menu).
6.2
TwinCAT Development Environment
The Software for automation TwinCAT (The Windows Control and Automation Technology) will be distinguished into:
� TwinCAT 2: System Manager (Configuration) & PLC Control (Programming)
� TwinCAT 3: Enhancement of TwinCAT 2 (Programming and Configuration takes place via a common Development Environment)
Details: � TwinCAT 2: Connects I/O devices to tasks in a variable-oriented manner Connects tasks to tasks in a variable-oriented manner Supports units at the bit level Supports synchronous or asynchronous relationships Exchange of consistent data areas and process images Datalink on NT - Programs by open Microsoft Standards (OLE, OCX, ActiveX, DCOM+, etc.)
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Commissioning
Integration of IEC 61131-3-Software-SPS, Software- NC and Software-CNC within Windows NT/2000/XP/Vista, Windows 7, NT/XP Embedded, CE
Interconnection to all common fieldbusses More...
Additional features: � TwinCAT 3 (eXtended Automation): Visual-Studio�-Integration Choice of the programming language Supports object orientated extension of IEC 61131-3 Usage of C/C++ as programming language for real time applications Connection to MATLAB�/Simulink� Open interface for expandability Flexible run-time environment Active support of Multi-Core- und 64-Bit-Operatingsystem Automatic code generation and project creation with the TwinCAT Automation Interface More...
Within the following sections commissioning of the TwinCAT Development Environment on a PC System for the control and also the basically functions of unique control elements will be explained. Please see further information to TwinCAT 2 and TwinCAT 3 at http://infosys.beckhoff.com.
6.2.1 Installation of the TwinCAT real-time driver
In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time driver has to be installed on this port under Windows. This can be done in several ways. One option is described here. In the System Manager call up the TwinCAT overview of the local network interfaces via Options Show Real Time Ethernet Compatible Devices.
Fig. 87: System Manager "Options" (TwinCAT 2)
This have to be called up by the Men� "TwinCAT" within the TwinCAT 3 environment:
Fig. 88: Call up under VS Shell (TwinCAT 3)
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The following dialog appears:
Commissioning
Fig. 89: Overview of network interfaces
Interfaces listed under "Compatible devices" can be assigned a driver via the "Install" button. A driver should only be installed on compatible devices.
A Windows warning regarding the unsigned driver can be ignored.
Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section "Creating the EtherCAT device" [} 90] in order to view the compatible ethernet ports via its EtherCAT properties (tab "Adapter", button "Compatible Devices..."):
Fig. 90: EtherCAT device properties(TwinCAT 2): click on "Compatible Devices..." of tab "Adapte"" TwinCAT 3: the properties of the EtherCAT device can be opened by double click on "Device .. (EtherCAT)" within the Solution Explorer under "I/O":
After the installation the driver appears activated in the Windows overview for the network interface (Windows Start System Properties Network)
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Commissioning
Fig. 91: Windows properties of the network interface A correct setting of the driver could be:
Fig. 92: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided:
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Commissioning
Fig. 93: Incorrect driver settings for the Ethernet port
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Commissioning
IP address of the port used
IP address/DHCP
In most cases an Ethernet port that is configured as an EtherCAT device will not transport general IP packets. For this reason and in cases where an EL6601 or similar devices are used it is useful to specify a fixed IP address for this port via the "Internet Protocol TCP/IP" driver setting and to disable DHCP. In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided. A suitable address space is 192.168.x.x, for example.
Fig. 94: TCP/IP setting for the Ethernet port
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6.2.2 Notes regarding ESI device description
Installation of the latest ESI device description The TwinCAT EtherCAT master/System Manager needs the device description files for the devices to be used in order to generate the configuration in online or offline mode. The device descriptions are contained in the so-called ESI files (EtherCAT Slave Information) in XML format. These files can be requested from the respective manufacturer and are made available for download. An *.xml file may contain several device descriptions.
The ESI files for Beckhoff EtherCAT devices are available on the Beckhoff website. The ESI files should be stored in the TwinCAT installation directory. Default settings:
� TwinCAT 2: C:\TwinCAT\IO\EtherCAT � TwinCAT 3: C:\TwinCAT\3.1\Config\Io\EtherCAT The files are read (once) when a new System Manager window is opened, if they have changed since the last time the System Manager window was opened. A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT build was created. For TwinCAT 2.11/TwinCAT 3 and higher, the ESI directory can be updated from the System Manager, if the programming PC is connected to the Internet; by � TwinCAT 2: Option "Update EtherCAT Device Descriptions" � TwinCAT 3: TwinCAT EtherCAT Devices "Update Device Descriptions (via ETG Website)..." The TwinCAT ESI Updater [} 89] is available for this purpose.
ESI
The *.xml files are associated with *.xsd files, which describe the structure of the ESI XML files. To update the ESI device descriptions, both file types should therefore be updated.
Device differentiation EtherCAT devices/slaves are distinguished by four properties, which determine the full device identifier. For example, the device identifier EL2521-0025-1018 consists of:
� family key "EL" � name "2521" � type "0025" � and revision "1018"
Fig. 95: Identifier structure
The order identifier consisting of name + type (here: EL2521-0010) describes the device function. The revision indicates the technical progress and is managed by Beckhoff. In principle, a device with a higher revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation. Each revision has its own ESI description. See further notes [} 10].
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Commissioning
Online description
If the EtherCAT configuration is created online through scanning of real devices (see section Online setup) and no ESI descriptions are available for a slave (specified by name and revision) that was found, the System Manager asks whether the description stored in the device should be used. In any case, the System Manager needs this information for setting up the cyclic and acyclic communication with the slave correctly.
Fig. 96: OnlineDescription information window (TwinCAT 2) In TwinCAT 3 a similar window appears, which also offers the Web update:
Fig. 97: Information window OnlineDescription (TwinCAT 3)
If possible, the Yes is to be rejected and the required ESI is to be requested from the device manufacturer. After installation of the XML/XSD file the configuration process should be repeated.
NOTE Changing the "usual" configuration through a scan
� If a scan discovers a device that is not yet known to TwinCAT, distinction has to be made between two cases. Taking the example here of the EL2521-0000 in the revision 1019
a) no ESI is present for the EL2521-0000 device at all, either for the revision 1019 or for an older revision. The ESI must then be requested from the manufacturer (in this case Beckhoff).
b) an ESI is present for the EL2521-0000 device, but only in an older revision, e.g. 1018 or 1017. In this case an in-house check should first be performed to determine whether the spare parts stock allows the integration of the increased revision into the configuration at all. A new/higher revision usually also brings along new features. If these are not to be used, work can continue without reservations with the previous revision 1018 in the configuration. This is also stated by the Beckhoff compatibility rule.
Refer in particular to the chapter "General notes on the use of Beckhoff EtherCAT IO components" and for manual configuration to the chapter "Offline configuration creation [} 90]".
If the OnlineDescription is used regardless, the System Manager reads a copy of the device description from the EEPROM in the EtherCAT slave. In complex slaves the size of the EEPROM may not be sufficient for the complete ESI, in which case the ESI would be incomplete in the configurator. Therefore it's recommended using an offline ESI file with priority in such a case.
The System Manager creates for online recorded device descriptions a new file "OnlineDescription0000...xml" in its ESI directory, which contains all ESI descriptions that were read online.
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Fig. 98: File OnlineDescription.xml created by the System Manager Is a slave desired to be added manually to the configuration at a later stage, online created slaves are indicated by a prepended symbol ">" in the selection list (see Figure Indication of an online recorded ESI of EL2521 as an example).
Fig. 99: Indication of an online recorded ESI of EL2521 as an example
If such ESI files are used and the manufacturer's files become available later, the file OnlineDescription.xml should be deleted as follows:
� close all System Manager windows � restart TwinCAT in Config mode � delete "OnlineDescription0000...xml" � restart TwinCAT System Manager This file should not be visible after this procedure, if necessary press <F5> to update
OnlineDescription for TwinCAT 3.x
In addition to the file described above "OnlineDescription0000...xml", a so called EtherCAT cache with new discovered devices is created by TwinCAT 3.x, e.g. under Windows 7:
(Please note the language settings of the OS!) You have to delete this file, too.
Faulty ESI file If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an information window.
Fig. 100: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3)
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Reasons may include: � Structure of the *.xml does not correspond to the associated *.xsd file check your schematics � Contents cannot be translated into a device description contact the file manufacturer
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6.2.3 TwinCAT ESI Updater
For TwinCAT 2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if an online connection is available:
Fig. 101: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: "Options" "Update EtherCAT Device Descriptions" Selection under TwinCAT 3:
Fig. 102: Using the ESI Updater (TwinCAT 3)
The ESI Updater (TwinCAT 3) is a convenient option for automatic downloading of ESI data provided by EtherCAT manufacturers via the Internet into the TwinCAT directory (ESI = EtherCAT slave information). TwinCAT accesses the central ESI ULR directory list stored at ETG; the entries can then be viewed in the Updater dialog, although they cannot be changed there.
The call up takes place under: "TwinCAT" "EtherCAT Devices" "Update Device Description (via ETG Website)...".
6.2.4 Distinction between Online and Offline
The distinction between online and offline refers to the presence of the actual I/O environment (drives, terminals, EJ-modules). If the configuration is to be prepared in advance of the system configuration as a programming system, e.g. on a laptop, this is only possible in "Offline configuration" mode. In this case all components have to be entered manually in the configuration, e.g. based on the electrical design.
If the designed control system is already connected to the EtherCAT system and all components are energised and the infrastructure is ready for operation, the TwinCAT configuration can simply be generated through "scanning" from the runtime system. This is referred to as online configuration.
In any case, during each startup the EtherCAT master checks whether the slaves it finds match the configuration. This test can be parameterised in the extended slave settings. Refer to note "Installation of the latest ESI-XML device description" [} 85].
For preparation of a configuration: � the real EtherCAT hardware (devices, couplers, drives) must be present and installed � the devices/modules must be connected via EtherCAT cables or in the terminal/ module strand in the same way as they are intended to be used later
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The online scan process consists of: � detecting the EtherCAT device [} 95] (Ethernet port at the IPC) � detecting the connected EtherCAT devices [} 96]. This step can be carried out independent of the preceding step � troubleshooting [} 99]
The scan with existing configuration [} 100] can also be carried out for comparison.
6.2.5 OFFLINE configuration creation
Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window.
Fig. 103: Append EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) Select type "EtherCAT" for an EtherCAT I/O application with EtherCAT slaves. For the present publisher/ subscriber service in combination with an EL6601/EL6614 terminal select "EtherCAT Automation Protocol via EL6601".
Fig. 104: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3) Then assign a real Ethernet port to this virtual device in the runtime system.
Fig. 105: Selecting the Ethernet port 90
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This query may appear automatically when the EtherCAT device is created, or the assignment can be set/ modified later in the properties dialog; see Fig. "EtherCAT device properties (TwinCAT 2)".
Fig. 106: EtherCAT device properties (TwinCAT 2) TwinCAT 3: the properties of the EtherCAT device can be opened by double click on "Device .. (EtherCAT)" within the Solution Explorer under "I/O":
Selecting the Ethernet port
Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time driver is installed. This has to be done separately for each port. Please refer to the respective installation page [} 80].
Defining EtherCAT slaves Further devices can be appended by right-clicking on a device in the configuration tree.
Fig. 107: Appending EtherCAT devices (left: TwinCAT 2; right: TwinCAT 3)
The dialog for selecting a new device opens. Only devices for which ESI files are available are displayed.
Only devices are offered for selection that can be appended to the previously selected device. Therefore the physical layer available for this port is also displayed (Fig. "Selection dialog for new EtherCAT device", A). In the case of cable-based Fast-Ethernet physical layer with PHY transfer, then also only cable-based devices are available, as shown in Fig. "Selection dialog for new EtherCAT device". If the preceding device has several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A).
Overview of physical layer � "Ethernet": cable-based 100BASE-TX: EK couplers, EP boxes, devices with RJ45/M8/M12 connector
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� "E-Bus": LVDS "terminal bus", "EJ-module": EL/ES terminals, various modular modules The search field facilitates finding specific devices (since TwinCAT 2.11 or TwinCAT 3).
Fig. 108: Selection dialog for new EtherCAT device
By default only the name/device type is used as selection criterion. For selecting a specific revision of the device the revision can be displayed as "Extended Information".
Fig. 109: Display of device revision
In many cases several device revisions were created for historic or functional reasons, e.g. through technological advancement. For simplification purposes (see Fig. "Selection dialog for new EtherCAT device") only the last (i.e. highest) revision and therefore the latest state of production is displayed in the selection dialog for Beckhoff devices. To show all device revisions available in the system as ESI descriptions tick the "Show Hidden Devices" check box, see Fig. "Display of previous revisions".
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Fig. 110: Display of previous revisions
Device selection based on revision, compatibility
The ESI description also defines the process image, the communication type between master and slave/device and the device functions, if applicable. The physical device (firmware, if available) has to support the communication queries/settings of the master. This is backward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT master addresses them as an older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT Terminals/ Boxes/ EJ-modules: device revision in the system >= device revision in the configuration This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives).
Example If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can be used in practice.
Fig. 111: Name/revision of the terminal
If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application. In this case the process image of the device is shown in the configuration tree and can be parameterized as follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...
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6.2.6 ONLINE configuration creation
Detecting/scanning of the EtherCAT device
The online device search can be used if the TwinCAT system is in CONFIG mode. This can be indicated by a symbol right below in the information bar:
� on TwinCAT 2 by a blue display "Config Mode" within the System Manager window:
.
� on TwinCAT 3 within the user interface of the development environment by a symbol . TwinCAT can be set into this mode:
� TwinCAT 2: by selection of Mode..."
in the Menubar or by "Actions" "Set/Reset TwinCAT to Config
� TwinCAT 3: by selection of in the Menubar or by "TwinCAT" "Restart TwinCAT (Config Mode)"
Online scanning in Config mode
The online search is not available in RUN mode (production operation). Note the differentiation between TwinCAT programming system and TwinCAT target system.
The TwinCAT 2 icon ( ) or TwinCAT 3 icon ( ) within the Windows-Taskbar always shows the TwinCAT mode of the local IPC. Compared to that, the System Manager window of TwinCAT 2 or the user interface of TwinCAT 3 indicates the state of the target system.
Fig. 113: Differentiation local/target system (left: TwinCAT 2; right: TwinCAT 3) Right-clicking on "I/O Devices" in the configuration tree opens the search dialog.
Fig. 114: Scan Devices (left: TwinCAT 2; right: TwinCAT 3)
This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically.
Fig. 115: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3)
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Ethernet ports with installed TwinCAT real-time driver are shown as "RT Ethernet" devices. An EtherCAT frame is sent to these ports for testing purposes. If the scan agent detects from the response that an EtherCAT slave is connected, the port is immediately shown as an "EtherCAT Device" .
Fig. 116: Detected Ethernet devices
Via respective checkboxes devices can be selected (as illustrated in Fig. "Detected Ethernet devices" e.g. Device 3 and Device 4 were chosen). After confirmation with "OK" a device scan is suggested for all selected devices, see Fig.: "Scan query after automatic creation of an EtherCAT device".
Selecting the Ethernet port
Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time driver is installed. This has to be done separately for each port. Please refer to the respective installation page [} 80].
Detecting/Scanning the EtherCAT devices
Online scan functionality
During a scan the master queries the identity information of the EtherCAT slaves from the slave EEPROM. The name and revision are used for determining the type. The respective devices are located in the stored ESI data and integrated in the configuration tree in the default state defined there.
Fig. 117: Example default state
NOTE Slave scanning in practice in series machine production
The scanning function should be used with care. It is a practical and fast tool for creating an initial configuration as a basis for commissioning. In series machine production or reproduction of the plant, however, the function should no longer be used for the creation of the configuration, but if necessary for comparison [} 100] with the defined initial configuration.Background: since Beckhoff occasionally increases the revision version of the delivered products for product maintenance reasons, a configuration can be created by such a scan which (with an identical machine construction) is identical according to the device list; however, the respective device revision may differ from the initial configuration.
Example:
Company A builds the prototype of a machine B, which is to be produced in series later on. To do this the prototype is built, a scan of the IO devices is performed in TwinCAT and the initial configuration "B.tsm" is created. The EL2521-0025 EtherCAT terminal with the revision 1018 is located somewhere. It is thus built into the TwinCAT configuration in this way:
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Fig. 118: Installing EthetCAT terminal with revision -1018
Likewise, during the prototype test phase, the functions and properties of this terminal are tested by the programmers/commissioning engineers and used if necessary, i.e. addressed from the PLC "B.pro" or the NC. (the same applies correspondingly to the TwinCAT 3 solution files). The prototype development is now completed and series production of machine B starts, for which Beckhoff continues to supply the EL2521-0025-0018. If the commissioning engineers of the series machine production department always carry out a scan, a B configuration with the identical contents results again for each machine. Likewise, A might create spare parts stores worldwide for the coming series-produced machines with EL2521-0025-1018 terminals. After some time Beckhoff extends the EL2521-0025 by a new feature C. Therefore the FW is changed, outwardly recognizable by a higher FW version and a new revision -1019. Nevertheless the new device naturally supports functions and interfaces of the predecessor version(s); an adaptation of "B.tsm" or even "B.pro" is therefore unnecessary. The series-produced machines can continue to be built with "B.tsm" and "B.pro"; it makes sense to perform a comparative scan [} 100] against the initial configuration "B.tsm" in order to check the built machine. However, if the series machine production department now doesn't use "B.tsm", but instead carries out a scan to create the productive configuration, the revision -1019 is automatically detected and built into the configuration:
Fig. 119: Detection of EtherCAT terminal with revision -1019
This is usually not noticed by the commissioning engineers. TwinCAT cannot signal anything either, since virtually a new configuration is created. According to the compatibility rule, however, this means that no EL2521-0025-1018 should be built into this machine as a spare part (even if this nevertheless works in the vast majority of cases). In addition, it could be the case that, due to the development accompanying production in company A, the new feature C of the EL2521-0025-1019 (for example, an improved analog filter or an additional process data for the diagnosis) is discovered and used without in-house consultation. The previous stock of spare part devices are then no longer to be used for the new configuration "B2.tsm" created in this way. � if series machine production is established, the scan should only be performed for informative purposes for comparison with a defined initial configuration. Changes are to be made with care! If an EtherCAT device was created in the configuration (manually or through a scan), the I/O field can be scanned for devices/slaves.
Fig. 120: Scan query after automatic creation of an EtherCAT device (left: TwinCAT 2; right: TwinCAT 3)
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Fig. 121: Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) In the System Manager (TwinCAT 2) or the User Interface (TwinCAT 3) the scan process can be monitored via the progress bar at the bottom in the status bar.
Fig. 122: Scan progressexemplary by TwinCAT 2 The configuration is established and can then be switched to online state (OPERATIONAL).
Fig. 123: Config/FreeRun query (left: TwinCAT 2; right: TwinCAT 3) In Config/FreeRun mode the System Manager display alternates between blue and red, and the EtherCAT device continues to operate with the idling cycle time of 4 ms (default setting), even without active task (NC, PLC).
Fig. 124: Displaying of "Free Run" and "Config Mode" toggling right below in the status bar
Fig. 125: TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: TwinCAT 3) The EtherCAT system should then be in a functional cyclic state, as shown in Fig. Online display example.
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Fig. 126: Online display example
Please note: � all slaves should be in OP state � the EtherCAT master should be in "Actual State" OP � "frames/sec" should match the cycle time taking into account the sent number of frames � no excessive "LostFrames" or CRC errors should occur
The configuration is now complete. It can be modified as described under manual procedure [} 90].
Troubleshooting
Various effects may occur during scanning. � An unknown device is detected, i.e. an EtherCAT slave for which no ESI XML description is available. In this case the System Manager offers to read any ESI that may be stored in the device. This case is described in the chapter "Notes regarding ESI device description". � Device are not detected properly Possible reasons include: faulty data links, resulting in data loss during the scan slave has invalid device description The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan.
Fig. 127: Faulty identification
In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful.
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Scan over existing Configuration
NOTE Change of the configuration after comparison
With this scan (TwinCAT 2.11 or 3.1) only the device properties vendor (manufacturer), device name and revision are compared at present! A "ChangeTo" or "Copy" should only be carried out with care, taking into consideration the Beckhoff IO compatibility rule (see above). The device configuration is then replaced by the revision found; this can affect the supported process data and functions. If a scan is initiated for an existing configuration, the actual I/O environment may match the configuration exactly or it may differ. This enables the configuration to be compared.
Fig. 128: Identical configuration (left: TwinCAT 2; right: TwinCAT 3) If differences are detected, they are shown in the correction dialog, so that the user can modify the configuration as required.
Fig. 129: Correction dialog It is advisable to tick the "Extended Information" check box to reveal differences in the revision.
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Color green blue
light blue red
Explanation
This EtherCAT slave matches the entry on the other side. Both type and revision match.
This EtherCAT slave is present on the other side, but in a different revision. This other revision can have other default values for the process data as well as other/additional functions. If the found revision is higher than the configured revision, the slave may be used provided compatibility issues are taken into account.
If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found device may not support all functions that the master expects based on the higher revision number.
This EtherCAT slave is ignored ("Ignore" button)
� This EtherCAT slave is not present on the other side.
� It is present, but in a different revision, which also differs in its properties from the one specified. The compatibility principle then also applies here: if the found revision is higher than the configured revision, use is possible provided compatibility issues are taken into account, since the successor devices should support the functions of the predecessor devices. If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found device may not support all functions that the master expects based on the higher revision number.
Device selection based on revision, compatibility
The ESI description also defines the process image, the communication type between master and slave/device and the device functions, if applicable. The physical device (firmware, if available) has to support the communication queries/settings of the master. This is backward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT master addresses them as an older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT Terminals/ Boxes/ EJ-modules:
device revision in the system >= device revision in the configuration
This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives).
Example
If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can be used in practice.
Fig. 130: Name/revision of the terminal
If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
In this case the process image of the device is shown in the configuration tree and can be parameterized as follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...
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Fig. 131: Correction dialog with modifications Once all modifications have been saved or accepted, click "OK" to transfer them to the real *.tsm configuration. Change to Compatible Type TwinCAT offers a function Change to Compatible Type... for the exchange of a device whilst retaining the links in the task.
Fig. 132: Dialog "Change to Compatible Type..." (left: TwinCAT 2; right: TwinCAT 3) This function is preferably to be used on AX5000 devices. Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type
Fig. 133: TwinCAT 2 Dialog Change to Alternative Type
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If called, the System Manager searches in the procured device ESI (in this example: EL1202-0000) for details of compatible devices contained there. The configuration is changed and the ESI-EEPROM is overwritten at the same time � therefore this process is possible only in the online state (ConfigMode).
6.2.7 EtherCAT subscriber configuration
In the left-hand window of the TwinCAT 2 System Manager or the Solution Explorer of the TwinCAT 3 Development Environment respectively, click on the element of the terminal within the tree you wish to configure (in the example: EL3751 Terminal 3).
Fig. 134: Branch element as terminal EL3751 In the right-hand window of the TwinCAT System Manager (TwinCAT 2) or the Development Environment (TwinCAT 3), various tabs are now available for configuring the terminal. And yet the dimension of complexity of a subscriber determines which tabs are provided. Thus as illustrated in the example above the terminal EL3751 provides many setup options and also a respective number of tabs are available. On the contrary by the terminal EL1004 for example the tabs "General", "EtherCAT", "Process Data" and "Online" are available only. Several terminals, as for instance the EL6695 provide special functions by a tab with its own terminal name, so "EL6695" in this case. A specific tab "Settings" by terminals with a wide range of setup options will be provided also (e.g. EL3751).
"General" tab
Fig. 135: "General" tab
Name Id Type Comment Disabled Create symbols
Name of the EtherCAT device Number of the EtherCAT device EtherCAT device type Here you can add a comment (e.g. regarding the system). Here you can deactivate the EtherCAT device. Access to this EtherCAT slave via ADS is only available if this control box is activated.
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Fig. 136: "EtherCAT" tab
Type Product/Revision Auto Inc Addr.
EtherCAT Addr. Previous Port
Advanced Settings
EtherCAT device type
Product and revision number of the EtherCAT device
Auto increment address of the EtherCAT device. The auto increment address can be used for addressing each EtherCAT device in the communication ring through its physical position. Auto increment addressing is used during the start-up phase when the EtherCAT master allocates addresses to the EtherCAT devices. With auto increment addressing the first EtherCAT slave in the ring has the address 0000hex. For each further slave the address is decremented by 1 (FFFFhex, FFFEhex etc.).
Fixed address of an EtherCAT slave. This address is allocated by the EtherCAT master during the start-up phase. Tick the control box to the left of the input field in order to modify the default value.
Name and port of the EtherCAT device to which this device is connected. If it is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring, then this combination field is activated and the EtherCAT device to which this device is to be connected can be selected.
This button opens the dialogs for advanced settings.
The link at the bottom of the tab points to the product page for this EtherCAT device on the web.
"Process Data" tab
Indicates the configuration of the process data. The input and output data of the EtherCAT slave are represented as CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function.
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Fig. 137: "Process Data" tab
The process data (PDOs) transferred by an EtherCAT slave during each cycle are user data which the application expects to be updated cyclically or which are sent to the slave. To this end the EtherCAT master (Beckhoff TwinCAT) parameterizes each EtherCAT slave during the start-up phase to define which process data (size in bits/bytes, source location, transmission type) it wants to transfer to or from this slave. Incorrect configuration can prevent successful start-up of the slave.
For Beckhoff EtherCAT EL, ES, EM, EJ and EP slaves the following applies in general:
� The input/output process data supported by the device are defined by the manufacturer in the ESI/XML description. The TwinCAT EtherCAT Master uses the ESI description to configure the slave correctly.
� The process data can be modified in the System Manager. See the device documentation. Examples of modifications include: mask out a channel, displaying additional cyclic information, 16-bit display instead of 8-bit data size, etc.
� In so-called "intelligent" EtherCAT devices the process data information is also stored in the CoE directory. Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave. It is not advisable to deviate from the designated process data, because the device firmware (if available) is adapted to these PDO combinations.
If the device documentation allows modification of process data, proceed as follows (see Figure Configuring the process data).
� A: select the device to configure
� B: in the "Process Data" tab select Input or Output under SyncManager (C)
� D: the PDOs can be selected or deselected
� H: the new process data are visible as linkable variables in the System Manager The new process data are active once the configuration has been activated and TwinCAT has been restarted (or the EtherCAT master has been restarted)
� E: if a slave supports this, Input and Output PDO can be modified simultaneously by selecting a socalled PDO record ("predefined PDO settings").
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Fig. 138: Configuring the process data
Manual modification of the process data
According to the ESI description, a PDO can be identified as "fixed" with the flag "F" in the PDO overview (Fig. Configuring the process data, J). The configuration of such PDOs cannot be changed, even if TwinCAT offers the associated dialog ("Edit"). In particular, CoE content cannot be displayed as cyclic process data. This generally also applies in cases where a device supports download of the PDO configuration, "G". In case of incorrect configuration the EtherCAT slave usually refuses to start and change to OP state. The System Manager displays an "invalid SM cfg" logger message: This error message ("invalid SM IN cfg" or "invalid SM OUT cfg") also indicates the reason for the failed start.
A detailed description [} 111] can be found at the end of this section.
"Startup" tab
The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list.
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Fig. 139: "Startup" tab
Column Transition
Protocol Index Data Comment
Description Transition to which the request is sent. This can either be � the transition from pre-operational to safe-operational (PS), or � the transition from safe-operational to operational (SO). If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be modified or deleted by the user. Type of mailbox protocol Index of the object Date on which this object is to be downloaded. Description of the request to be sent to the mailbox
Move Up Move Down New Delete Edit
This button moves the selected request up by one position in the list. This button moves the selected request down by one position in the list. This button adds a new mailbox download request to be sent during startup. This button deletes the selected entry. This button edits an existing request.
"CoE - Online" tab
The additional CoE - Online tab is displayed if the EtherCAT slave supports the CANopen over EtherCAT (CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions.
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Fig. 140: "CoE - Online" tab
Object list display
Column Index Name Flags
Value
Description Index and sub-index of the object Name of the object RW The object can be read, and data can be written to the object (read/write) RO The object can be read, but no data can be written to the object (read only) P An additional P identifies the object as a process data object. Value of the object
Update List Auto Update Advanced
The Update list button updates all objects in the displayed list If this check box is selected, the content of the objects is updated automatically. The Advanced button opens the Advanced Settings dialog. Here you can specify which objects are displayed in the list.
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Fig. 141: Dialog "Advanced settings"
Online - via SDO Information Offline - via EDS File
If this option button is selected, the list of the objects included in the object list of the slave is uploaded from the slave via SDO information. The list below can be used to specify which object types are to be uploaded.
If this option button is selected, the list of the objects included in the object list is read from an EDS file provided by the user.
"Online" tab
Fig. 142: "Online" tab
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State Machine Init Pre-Op Op Bootstrap Safe-Op Clear Error
Current State Requested State
This button attempts to set the EtherCAT device to the Init state. This button attempts to set the EtherCAT device to the pre-operational state. This button attempts to set the EtherCAT device to the operational state. This button attempts to set the EtherCAT device to the Bootstrap state. This button attempts to set the EtherCAT device to the safe-operational state. This button attempts to delete the fault display. If an EtherCAT slave fails during change of state it sets an error flag.
Example: An EtherCAT slave is in PREOP state (pre-operational). The master now requests the SAFEOP state (safe-operational). If the slave fails during change of state it sets the error flag. The current state is now displayed as ERR PREOP. When the Clear Error button is pressed the error flag is cleared, and the current state is displayed as PREOP again. Indicates the current state of the EtherCAT device. Indicates the state requested for the EtherCAT device.
DLL Status
Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status can have four different states:
Status No Carrier / Open No Carrier / Closed Carrier / Open Carrier / Closed
Description No carrier signal is available at the port, but the port is open. No carrier signal is available at the port, and the port is closed. A carrier signal is available at the port, and the port is open. A carrier signal is available at the port, but the port is closed.
File Access over EtherCAT
Download Upload
With this button a file can be written to the EtherCAT device. With this button a file can be read from the EtherCAT device.
"DC" tab (Distributed Clocks)
Fig. 143: "DC" tab (Distributed Clocks)
Operation Mode
Options (optional):
� FreeRun
� SM-Synchron
� DC-Synchron (Input based)
� DC-Synchron Advanced Settings... Advanced settings for readjustment of the real time determinant TwinCAT-clock
Detailed information to Distributed Clocks is specified on http://infosys.beckhoff.com:
Fieldbus Components EtherCAT Terminals EtherCAT System documentation EtherCAT basics Distributed Clocks
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6.2.7.1 Detailed description of Process Data tab
Sync Manager
Lists the configuration of the Sync Manager (SM). If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox input (MbxIn). SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.
If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.
PDO Assignment
PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listed here:
� If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed. � If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.
The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device. The name of the variable is identical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignment list is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDO assignment. In order to be able to select a greyed out PDO, the currently selected PDO has to be deselected first.
Activation of PDO assignment
� If you have changed the PDO assignment, in order to activate the new PDO assignment, a) the EtherCAT slave has to run through the PS status transition cycle (from pre-operational to
safe-operational) once (see Online tab [} 109]), b) and the System Manager has to reload the EtherCAT slaves
(
button for TwinCAT 2 or
button for TwinCAT 3)
PDO list
List of all PDOs supported by this EtherCAT device. The content of the selected PDOs is displayed in the PDO Content list. The PDO configuration can be modified by double-clicking on an entry.
Column Index Size Name
Flags
SM SU
Description
PDO index.
Size of the PDO in bytes.
Name of the PDO. If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this parameter as the name.
F
Fixed content: The content of this PDO is fixed and cannot be changed by the
System Manager.
M
Mandatory PDO. This PDO is mandatory and must therefore be assigned to a
Sync Manager! Consequently, this PDO cannot be deleted from the PDO
Assignment list
Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take part in the process data traffic.
Sync unit to which this PDO is assigned.
PDO Content Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.
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Download If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be downloaded to the device. This is an optional feature that is not supported by all EtherCAT slaves.
PDO Assignment If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup. The required commands to be sent to the device can be viewed in the Startup [} 106] tab.
PDO Configuration If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the PDO Content display) is downloaded to the EtherCAT slave.
6.3
General Notes - EtherCAT Slave Application
This summary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT. More detailed information on this may be found in the corresponding sections of, for instance, the EtherCAT System Documentation.
Diagnosis in real time: WorkingCounter, EtherCAT State and Status
Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the controlling task.
This diagnostic information relates to differing levels of communication. It therefore has a variety of sources, and is also updated at various times.
Any application that relies on I/O data from a fieldbus being correct and up to date must make diagnostic access to the corresponding underlying layers. EtherCAT and the TwinCAT System Manager offer comprehensive diagnostic elements of this kind. Those diagnostic elements that are helpful to the controlling task for diagnosis that is accurate for the current cycle when in operation (not during commissioning) are discussed below.
Fig. 144: Selection of the diagnostic information of an EtherCAT Slave In general, an EtherCAT Slave offers
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� communication diagnosis typical for a slave (diagnosis of successful participation in the exchange of process data, and correct operating mode) This diagnosis is the same for all slaves.
as well as � function diagnosis typical for a channel (device-dependent)
See the corresponding device documentation
The colors in Fig. Selection of the diagnostic information of an EtherCAT Slave also correspond to the variable colors in the System Manager, see Fig. Basic EtherCAT Slave Diagnosis in the PLC.
Colour yellow red green
Meaning
Input variables from the Slave to the EtherCAT Master, updated in every cycle
Output variables from the Slave to the EtherCAT Master, updated in every cycle
Information variables for the EtherCAT Master that are updated acyclically. This means that it is possible that in any particular cycle they do not represent the latest possible status. It is therefore useful to read such variables through ADS.
Fig. Basic EtherCAT Slave Diagnosis in the PLC shows an example of an implementation of basic EtherCAT Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel. Structures are created as input variables in the PLC, each corresponding to the process image.
Fig. 145: Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here:
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Code A
B C
D
Function
Implementation
Application/evaluation
The EtherCAT Master's diagnostic information
At least the DevState is to be evaluated for the most recent cycle in the PLC.
updated acyclically (yellow) or provided acyclically (green).
The EtherCAT Master's diagnostic information offers many more possibilities than are treated in the EtherCAT System Documentation. A few keywords:
� CoE in the Master for communication with/through the Slaves
� Functions from TcEtherCAT.lib
� Perform an OnlineScan
In the example chosen (EL3102) the EL3102 comprises two analogue input channels that transmit a single function status for the most recent cycle.
Status
In order for the higher-level PLC task (or cor-
�
the bit significations may be found in the device documentation
responding control applications) to be able to rely on correct data, the function status must be evaluated there. Such information is therefore provided with the process data for
� other devices may supply the most recent cycle.
more information, or none
that is typical of a slave
For every EtherCAT Slave that has cyclic WcState (Working Counter)
In order for the higher-level PLC task (or cor-
process data, the Master displays, using what is known as a WorkingCounter, whether the slave is participating success-
0: valid real-time communication in the last cycle
responding control applications) to be able to rely on correct data, the communication status of the EtherCAT Slave must be evaluated
fully and without error in the cyclic ex-
1: invalid real-time communication there. Such information is therefore provided
change of process data. This important, el- This may possibly have effects on
ementary information is therefore provided the process data of other Slaves
for the most recent cycle in the System that are located in the same Syn-
Manager
cUnit
with the process data for the most recent cycle.
1. at the EtherCAT Slave, and, with identical contents
2. as a collective variable at the EtherCAT Master (see Point A)
for linking.
Diagnostic information of the EtherCAT State
Master which, while it is represented at the slave for linking, is actually determined by the Master for the Slave concerned and represented there. This information cannot
current Status (INIT..OP) of the Slave. The Slave must be in OP (=8) when operating normally.
be characterized as real-time, because it AdsAddr
Information variables for the EtherCAT Master that are updated acyclically. This means that it is possible that in any particular cycle they do not represent the latest possible status. It is therefore possible to read such variables through ADS.
� is only rarely/never changed,
The ADS address is useful for
except when the system starts up communicating from the PLC/task
�
is itself determined acyclically (e.g. EtherCAT Status)
via ADS with the EtherCAT Slave, e.g. for reading/writing to the CoE. The AMS-NetID of a slave corre-
sponds to the AMS-NetID of the
EtherCAT Master; communication
with the individual Slave is possible
via the port (= EtherCAT address).
NOTE
Diagnostic information
It is strongly recommended that the diagnostic information made available is evaluated so that the application can react accordingly.
CoE Parameter Directory
The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. EL3102, CoE directory:
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Fig. 146: EL3102, CoE directory
EtherCAT System Documentation
The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics --> CoE Interface) must be observed! A few brief extracts: � Whether changes in the online directory are saved locally in the slave depends on the device. EL terminals (except the EL66xx) are able to save in this way. � The user must manage the changes to the StartUp list. Commissioning aid in the TwinCAT System Manager Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices. These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated into the System Manager through appropriately extended ESI configuration files.
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Fig. 147: Example of commissioning aid for a EL3204
This commissioning process simultaneously manages � CoE Parameter Directory � DC/FreeRun mode � the available process data records (PDO)
Although the "Process Data", "DC", "Startup" and "CoE-Online" that used to be necessary for this are still displayed, it is recommended that, if the commissioning aid is used, the automatically generated settings are not changed by it.
The commissioning tool does not cover every possible application of an EL/EP device. If the available setting options are not adequate, the user can make the DC, PDO and CoE settings manually, as in the past.
EtherCAT State: automatic default behaviour of the TwinCAT System Manager and manual operation
After the operating power is switched on, an EtherCAT Slave must go through the following statuses � INIT � PREOP � SAFEOP � OP
to ensure sound operation. The EtherCAT Master directs these statuses in accordance with the initialization routines that are defined for commissioning the device by the ES/XML and user settings (Distributed Clocks (DC), PDO, CoE). See also the section on "Principles of Communication, EtherCAT State Machine [} 28]" in this connection. Depending how much configuration has to be done, and on the overall communication, booting can take up to a few seconds.
The EtherCAT Master itself must go through these routines when starting, until it has reached at least the OP target state.
The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT Master will approach the target states.
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Standard setting
The advanced settings of the EtherCAT Master are set as standard: � EtherCAT Master: OP � Slaves: OP This setting applies equally to all Slaves.
Commissioning
Fig. 148: Default behaviour of the System Manager
In addition, the target state of any particular Slave can be set in the "Advanced Settings" dialogue; the standard setting is again OP.
Fig. 149: Default target state in the Slave
Manual Control There are particular reasons why it may be appropriate to control the states from the application/task/PLC. For instance:
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� for diagnostic reasons � to induce a controlled restart of axes � because a change in the times involved in starting is desirable In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT.lib, which is available as standard, and to work through the states in a controlled manner using, for instance, FB_EcSetMasterState. It is then useful to put the settings in the EtherCAT Master to INIT for master and slave.
Fig. 150: PLC function blocks
Note regarding E-Bus current
EL/ES terminals are placed on the DIN rail at a coupler on the terminal strand. A Bus Coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a rule. Information on how much current each EL terminal requires from the E-bus supply is available online and in the catalogue. If the added terminals require more current than the coupler can supply, then power feed terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.
The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager as a column value. A shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be placed before such a position.
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Fig. 151: Illegally exceeding the E-Bus current From TwinCAT 2.11 and above, a warning message "E-Bus Power of Terminal..." is output in the logger window when such a configuration is activated: Fig. 152: Warning message for exceeding E-Bus current
NOTE Caution! Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!
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6.4
Sensitivity of the input
The input circuit of the EL12xx is optimized for fast signal changes and the shortest possible signal detection. The time required for a signal change as a rising/falling edge from the terminal point at the front of the terminal to the logic of the central processing unit (ESC) is specified for the EL12xx series at TON/TOFF < 1 �s, both for rising (TON) and falling edge (TOFF). Due to this low absolute cycle time, the temperature drift of the cycle time is also very low.
It should be considered that the input circuitry has little or no filtering, depending on the type. It is optimized for fastest signal transmission from the input to the evaluation unit. Fast level changes/pulses in the �s range, e.g. due to possible EMC influences, thus arrive at the evaluation unit unfiltered/undamped and are possibly visible as a change of state of the input. If necessary, shielded cables should be used to exclude environmental influences.
6.5
Basic function principles
Table of contents
� Definitions [} 120] - Channel [} 120]
- Cyclic process data/PDO [} 120] - Parameter data/CoE [} 121] - Buffer [} 121] - Event [} 121] - Timestamp [} 121] - MTSF [} 121] - Macrocycle [} 122] - Microcycle [} 122] � Compatibility mode in relation to EL1252/EL2252 [} 123] - PDO definition [} 124]
6.5.1 Definitions
The following section describes some basic terminology relating to the multi-timestamp function. This is based on the explanatory notes on the technology page [} 20], which must be referred to for guidance.
Channel
The EL1259, for example, has 8 input and 8 output channels. Every channel can operate independent of the other channels and has its own buffer and its own settings in the CoE (channel-oriented programming is supported). Notwithstanding the channel-based parameterization (CoE, PDO), the settings for all channels are implemented together in the terminal.
Cyclic process data/PDO
Each channel has 2 different types of cyclic PDO:
- Diagnostics/status/control values created specifically for the buffer
- The actual "values" as time-stamped Boolean data in the form of an array. The array should be set to a suitable size in the configuration. It cannot be changed during runtime.
See also PDO overview on the commissioning pages and the following sections.
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Parameter data/CoE
In the CoE each channel has a parameter range 0x80n0:ff [} 181] with suitable settings for configuring the buffer or the input/output behavior, for example.
See also information in the commissioning pages [} 125].
Buffer
Each channel has its own buffer (memory) for 32 events, based on the FIFO principle. It is served via channel-specific PDOs - see PDO overview on the commissioning pages.
� For inputs: The channel state is queried for its switching state 0/1 based on the microcycle. Any changes that are detected are stored in the buffer. Depending on the configured multi-timestamp factor for the channel (MTSF), the buffer content is retrieved by the controller/PLC via EtherCAT, either in its entirety or in several steps. The behavior in case of a buffer overflow can be configured; an overflow of the buffer is indicated in the process data. If necessary the buffer can be emptied by the controller.
� For outputs: The controller loads switching orders into the buffer, depending on the configured MTSF. In each microcycle a check is performed to determine whether the highest entry in the buffer is to be executed. The behavior in the case of `outdated' timestamps can be configured. If necessary the buffer can be emptied by the controller.
Note: The current FW supports a buffer for 32 events. Other sizes on request.
Event
An "event" is defined as a changing signal edge at the input or output. Therefore, for an input channel an event is the change in input state from 0->1 or 1->0. This consists of the information timestamp of the event and state 0/1 after the change. For an output channel an event is a switching order, similarly consisting of two items of information: timestamp of the event and state 0/1 after the desired change.
Timestamp
In its original state the EtherCAT distributed clocks time has the following properties: Starting time 1.1.2000 00:00, 64-bit range with 1 ns resolution (~ 584 years). In order to avoid redundant process data, the multitimestamp terminals operate with a reduced timestamp width of 32 bits (~ 4.29 sec.). Thus switching orders can be specified up to 4.29 seconds in the future � input events must be processed within 4.2 seconds, as otherwise an overflow occurs and the actually recorded time is no longer secured. Within the framework of this documentation, a function block FB is also provided [} 131] that accomplishes the filling up of 32-bit input timestamps to the currently valid 64 bits in the PLC.
MTSF
Multi-timestamp factor, currently 1..10, higher on request
In the configuration each channel can be configured to a fixed, maximum number of events that can be transferred per EtherCAT cycle. In other words, this is the maximum number of events (switching orders for outputs or events for input terminals) that can be exchanged with the control/PLC. These process data are to be understood as placeholders, which are not all to be filled at all times. This means for
� Inputs: The number of input events placed in the process data for the controller by the channel matches the number of events that arrived at the input during the last cycle OR are still in the buffer.
� Outputs: The events predefined by the controller are transferred to the channel buffer, which is then processed based on the FIFO principle.
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Macrocycle The terminal requires a certain time for internal cyclic processing of the operations. Depending on the number of active channels and configured MTSF, the internal processing time for the terminal is in the range of several 100 �s, see table below. The macrocycle time resulting from the actual configuration can be read online from the CoE 0xF900:08.
Fig. 153: Microcycle 0xF900:09 & macrocycle 0xF900:08 in the CoE
This time should be regarded as the absolute lower limit for the EtherCAT communication. The EtherCAT task cycle time applied to this terminal should be chosen 10..20 % higher, depending on system performance. The macrocycle times listed in the table below have been determined empirically and should be regarded as guide values. The actual macrocycle time occurring in the system should be verified during commissioning in the CoE object referred to above.
EL1258 macrocycle [�s, typical] 1 channel 2 channels 4 channels 8 channels
MTSF 1
130 130 130 130
MTSF 2
140 140 140 160
MTSF 5
160 160 170 190
MTSF 10
170 170 200 290
EL1259 macrocycle [�s, typical] 1 in / 1 out channel 2 in / 2 out channels 4 in / 4 out channels 8 in / 8 out channels
MTSF 1
160 170 180 240
MTSF 2
160 190 230 320
MTSF 5
170 210 260 360
MTSF 10
180 270 360 540
EL2258 macrocycle [�s, typical] 1 channel 2 channels 4 channels 8 channels
MTSF 1
90 90 140 150
MTSF 2
90 90 150 170
MTSF 5
100 100 180 210
Times for other configurations are best determined via xF900:08.
MTSF 10
120 120 230 290
Microcycle
The microcycle is the internal constant cycle of the terminal, during which sampling of the inputs and testing of the switching orders for outputs takes place. This value depends on the number of active channels, but not on the MTSF value. The corresponding values can be found are in the following table.
The distributed clock in the terminal is controlled via EtherCAT to the standard accuracy of <<1 �s. However, the internal processing microcycle results in a 'coarsening' of the time resolution that can be achieved with the multi-timestamp terminals in practice, as described below.
The microcycle time resulting from the actual configuration can be read online from the CoE 0xF900:09.
Fig. 154: Microcycle 0xF900:09 & macrocycle 0xF900:08 in the CoE
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The following applies for the sequence:
� For inputs: A switching edge arriving from outside at an input channel at any time is picked up during the next microcycle and placed into the buffer. The time inaccuracy for the acquisition is therefore approx. -x/+0 �s (with x = microcycle time).
� For outputs: A switching order is executed in a microcycle, if it falls into this microcycle for the first time "after" the execution time. It is then immediately deleted from the buffer.
EL1258 1 channel 2 channels 4 channels 8 channels
Microcycle time [�s, typical] 7 10 14 23
EL1259 1 channel 2 channels 4 channels 8 channels
Microcycle time [�s, typical] 10 14 22 39
EL2258 1 channel 2 channels 4 channels 8 channels
Microcycle time [�s, typical] 7 9 13 21
Times for other configurations are best determined via 0xF900:09.
6.5.2 Compatibility mode in relation to EL1252/EL2252
Via the predefined PDO selection the multi-timestamp terminals can be set to a largely identical and therefore compatible process image in relation to the EL1252/EL2252. This means that software interfaces that were created for these timestamp terminals can also be used for multi-timestamp terminals. To this end select the settings "Compatible X-Ch." in the EL1258/EL2258. The behavior is then as for the EL1252/ EL2252.
Predefined PDO selection
All channels of the terminal are to be operated in the same way: Either with multi-timestamp process data or with process data that are compatible with EL1252/EL2252.
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Fig. 155: Option for setting of compatibility modes in relation to EL1252/EL2252
In compatible mode the terminals operate with the following time properties:
EL1258 1 Ch. 2 Ch. 4 Ch. 8 Ch.
Macrocycle time [�s, typical] 50 70 90 120
Microcycle time [�s, typical] 7 9 13 21
EL1259 1 Ch. In + 1 Ch. Out 2 Ch. In + 2 Ch. Out 4 Ch. In + 4 Ch. Out 8 Ch. In + 8 Ch. Out
Macrocycle time [�s, typical] 90 160 180 200
Microcycle time [�s, typical] 8 11 18 30
EL2258 1 Ch. 2 Ch. 4 Ch. 8 Ch.
Macrocycle time [�s, typical] 70 90 110 120
Microcycle time [�s, typical] 7 8 10 15
The microcycle time defines the feasible time resolution of the input capture/output issue.
PDO definition The process data for inputs and outputs can specified as "predefined PDO" or freely combined:
� Selection via "predefined PDO"
Fig. 156: Setting multi-timestamping via "predefined PDO"
Several pre-configured combinations of channel number and MTSF are offered. We recommend selecting the process data compilations in this way.
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� Free compilation Alternatively, the number of used channels and MTSF per channel can be set as a free compilation via the PDO assignment. The process data objects (PDO) to be transferred cyclically are activated from the inputs/outputs list in the System Manager.
Fig. 157: Free selection of the PDO
The meaning of the individual PDOs can be found in the CoE overview. Please note: � "Multi-timestamp PDOs" and "compatible PDOs" cannot be combined � The corresponding control/status must be active for each active input/output channel � The MTSF can be set freely from 1 to 10 for each channel � Only 1 multi-timestamp factor may be active per channel. It is therefore not permitted to activate PDO "MTO Outputs 5x Channel 1" and PDO "MTO Outputs 2x Channel 1" at the same time, for example.
If an irregular PDO combination is selected, it may lead to the ERR-PREOP state `invalid output mapping' or `invalid input mapping'.
Fig. 158: Event logger message from the System Manager in the event of invalid PDO combination
6.6
Commissioning inputs
Table of contents
� Basic principles [} 126] � Commissioning an MIT channel [} 128] - 1. Synchronous or asynchronous operation? [} 128] - 2. Setting the multi-timestamping factor (MTSF) [} 129] - 3. When should the filter in CoE be activated? (default: deactivated) [} 130] - 4. How can I test the input channel? [} 130] - 5. Processing of events in the PLC [} 131] � Commissioning in compatibility mode [} 131]
The section below describes commissioning of a digital input terminal with multi-timestamp function at a PLC.
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6.6.1 Basic principles
Each MTI channel (multi-timestamp input) has inputs and outputs in the cyclic process image, which have to be linked with the PLC/task.
Fig. 159: Inputs and outputs in the project tree
The representation in the System Manager depends on the number of configured channels and the respective multi-timestamp factor (MTSF).
MTI inputs provide information on the events:
- Status
� NoOfInputEvents: Number of events provided in this process data cycle with timestamp. � InputState: Current state of input 0/1 when the process data are collected via EtherCAT. This
corresponds to the classic Bool input and can be used in the same way � InputBufferOverflow = TRUE: Indicates that more events arrived at the input than can be stored in the
buffer. In CoE 0x80n0:13 there is an option to select whether further new events arriving at the nput are: - no longer stored in the buffer (default), or - stored in the buffer while older events are deleted � InputCycleCounter: The 2-bit counter is used for input process data monitoring. With each process data exchange of the terminal it is incremented by one and is reset to zero when its maximum value of three is exceeded. � EventsInInputBuffer: Number of saved events remaining in the buffer after the events transmitted for the current cycle have been removed
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� InputOrderFeedback: Reflects the InputOrderCounter. Indicates whether the InputOrderCounter was received and processed by the terminal. - InputBit-Array: Bit-by-bit input states as array to the corresponding timestamps Bit 0: Input value after timestamp 1 Bit 1: Input value after timestamp 2 etc. - InputEventTime x: List of 32-bit timestamps of the respective signal edge
MTI outputs are used for monitoring: - Ctrl
� InputBufferReset TRUE: The channel buffer is cleared. This can make sense, e.g. in the case of a reported InputBufferOverflow, if the application requires this. Via the CoE setting 0x80n0:13 BufferOverflowBehavior the behavior on buffer overflow can be specified.
� InputOrderCounter: This counter is only for the asynchronous operation. Only if the counter is incremented by the controller, the channel outputs a new set of events to the fieldbus.
Each CoE channel (from 0x8000) has settings for operating mode selection:
Fig. 160: Operating mode selection in CoE from 0x80n0
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0x80n0:0 MTI Settings Ch. n=0...7 0x80n0:01
0x80n0:11
0x80n0:12
0x80n0:13
0x80n0:14
Name
Entry
Description
Enable digital filter
0x80n0:01 FALSE
0x80n0:01 TRUE
Buffer reset behavior
0x80n0:11 FALSE
reset on rising edge
0x80n0:11 TRUE reset on high level
Buffer mode
0x80n0:12 FALSE
Asynchronous (Buffered)
0x80n0:12 TRUE Synchronous
Buffer overflow behavior
0x80n0:13 FALSE
Lock buffer
0x80n0:13 TRUE Overwrite oldest event
Digital filter count
Activation of the filter for hiding spikes. The filter length can be entered in 0x80n0:14 DigitalFilterCount.
Filter is deactivated
Activation of the input filter
Reset behavior in the event of a reset signal in the status register (PDO)
Reset is executed on rising edge. New data can then be buffered right away.
Buffer is held in reset as long as the signal is active. Can be used for muting, for example.
Setting of asynchronous or synchronous operation
Asynchronous operation. To load the buffer entries into the PDO, the PLC has to increment the InputOrderCounter [} 126]. This handshake requires one cycle for processing. The data are retained in the event of telegram malfunctions.
Synchronous operation. The first buffer entries are transferred cyclically to the PDO, as soon as data are available.
Configuration of the behavior if more than 32 events per channel have to be stored
Overwriting of data is blocked, new events will be lost.
The oldest data are overwritten, new events are retained.
Number of microcycles until an applied input level as evaluated as valid. In this way spikes are filtered out. An entry of 1 results in disabling of the filter.
6.6.2 Commissioning of a MTI channel
1. Synchronous or asynchronous operation?
� Synchronous (default): Synchronous operation should be selected if events are to be transferred from the channel to the controller as quickly as possible. - In each EtherCAT cycle as many events as possible are loaded into the buffer. The number of events per channel can be read via EventsInInputBuffer. The maximum number of events that can be stored is 32. - The MTSF is used to specify how many events per cycle are transferred from the buffer into the process data. The factor is currently limited to a maximum of 10. - If the number of new events consistently exceeds the MTSF value, the buffer may overflow. Via the CoE 0x80n0:13 the behavior on buffer overflow can be configured for each channel.
� Asynchronous: If high data integrity is required, asynchronous handshake operation should be selected. Application from the PLC: - The channel signals the presence of data with NoOfInputEvents > 0 - The PLC can accept the data (input event states and timestamps). - The InputOrderCounter has to be incremented (+ 1) - In the next cycle the InputOrderFeedback should have assumed the value of the InputOrderCounter - If further events are present in the buffer, they are shown in the process image. - Starting from the beginning...
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Fig. 161: Setting in CoE x80n0:12 Asynchronous operation
2. Setting the multi-timestamping factor (MTSF) To facilitate choosing an appropriate MTSF one should estimate the frequency at which level changes, i.e. events, are expected at the input. The multi-timestamping factor (MTSF) can then be selected. The factor indicates how many events per cycle are transferred from the buffer to the controller. With asynchronous transfer one should note that, due to the handshake, only half the number of events are retrieved per time period. In order to avoid the transfer of excessive quantities of process data, the following configuration recommendations apply: Synchronous transfer: MTSF (expected maximum number of input events per EtherCAT cycle) + 1 Asynchronous transfer MTSF 2x (expected maximum number of input-events per EtherCAT cycle) + 1 Example: At a cycle time of 1 ms, a maximum of 4 events/ms per channel are expected. All 8 channels of the EL1258 are to be used. - Synchronous transfer: MTSF 5 Select "Multi-Timestamping 8 Ch. 5x" via the predefined PDO. If a somewhat larger number of events then occur in a cycle, these are buffered in the channel buffer; the buffer can then be emptied by the controller in the subsequent cycles.
Fig. 162: Process data selection (predefined PDO) for synchronous transfer - Asynchronous transfer: MTSF 9
Select "Multi-Timestamping 8 Ch. 10x" via the predefined PDO.
Fig. 163: Process data selection (predefined PDO) for asynchronous transfer For example, the process data of an input channel are represented as follows for MTSF = 1x, 5x and 10x:
Fig. 164: Different MTSF
For each event there is a bit in the input array (right-justified) and a timestamp. These process data are placeholders that accept events if there are any to be transmitted.
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If fewer channels are required, predefined PDOs are also available for 4, 2 or 1 channel(s), with an MTSF of 1x, 2x, 5x and 10x respectively. If fewer events arrive at the input than defined by the MTSF, the remaining PDOs are set to 0, in order to highlight this. Example: NoOfInputEvents = 3 for MTSF=5 means that the first three PDO events (input value + timestamp) are supplied, the remaining two PDOs are set to 0.
3. When should the filter in CoE be activated? (default: deactivated) The filter can be used to hide short signal jumps (spikes). They are regarded as invalid. Procedure: - The filter can be activated via the CoE 0x80n0:01 EnableDigitalFilter. - If the filter activated is, the object 0x80n0:14 DigitalFilterCounter is used to set the timeframe over which the signal is regarded as valid. The timeframe should be specified as number of microcycles. "1" is synonymous with a deactivated filter.
- Finally you must check whether the macrocycle time achieved in the terminal with the selected settings is shorter than the EtherCAT cycle time. - In online mode the current microcycle time can be viewed in the CoE.
Fig. 165: Setting in CoE x80n0:01 & x80n0:14 for digital filter
Finally you must check whether the macrocycle time achieved in the terminal with the selected settings is shorter than the EtherCAT cycle time. This should generally be 20% longer than the macrocycle. The current macrocycle time can be read in the CoE directory 0xF900:08 CycleTime.
4. How can I test the input channel? If an input channel is to be tested, the events are hardly visible in the System Manager, since in synchronous mode (default) they are immediately retrieved, and the process data always look "zeroed". Remedy: - Set the channel to asynchronous mode, so that the events are retrieved in handshake mode. or - Track event timestamp no. 1 in the online display:
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Fig. 166: Timestamp via online display
5. Processing of events in the PLC The channel supplies 32-bit timestamp. The following function block can be used for scaling up to the convenient 64-bit format:
Download (https://infosys.beckhoff.com/content/1033/el125x_el2258/Resources/zip/1885941003.zip)
6.6.3 Commissioning in compatibility mode
The multi-timestamp terminals can also be operated in compatibility mode with regard to the EL1252. The following settings are required: Procedure:
- The changeover should only be implemented via the predefined PDO:
Fig. 167: Predefined PDOs for compatibility mode
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- Via the CoE 0x80n0:0 TSI Settings (n = 8 ... F) the response for several events in a single cycle can be specified here. This is comparable to the EL1252. In this case MTSF =1.
0x80n0:0 TSI Settings Ch. n=8...F 80n0:01
80n0:02
Name
Pos Sample Mode 80n0:01 FALSE 80n0:01 TRUE Neg Sample Mode 80n0:02 FALSE 80n0:02 TRUE
Entry Description
Defines the behavior for rising edges with several signals per cycle
Last edge The last detected event is forwarded to the PLC
First edge The first detected event is forwarded to the PLC
Defines the behavior for falling edges with several signals per cycle
Last edge The last detected event is forwarded to the PLC
First edge The first detected event is forwarded to the PLC
Free PDO selection
No provision is made for free arrangement of the respective PDOs in compatibility mode.
6.7
Commissioning outputs
Table of contents
� Basic principles [} 132] � Commissioning an MTO channel [} 136] - 1. How do I test my actuator? [} 136] - 2. Setting the multi-timestamping factor (MTSF) [} 137] - 3. How are the outputs with timestamp activated? [} 137] � Commissioning in compatibility mode EL2252 [} 138]
6.7.1 Basic principles
Each MTO channel (multi-timestamp output) has inputs and outputs in the cyclic process image, which have to be linked with the PLC/task.
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Fig. 168: Inputs and outputs in the project tree
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Additional PDO from FW03/Rev 0017
From FW03 the CtrlWord is provided with the EnableManualOperation function. This function is located at bit position 4 of the CtrlWord and is effective only if it is configured with TRUE. This bit position was previously unused. Thus also newer EL1259/EL2258 terminals can be used in the application according to the Beckhoff IO compatibility rule if a predecessor revision (e.g. 0016) is used in the configuration. Conversely, older terminals with firmware < FW03 may of course not be used in the application if this function is to be used. In general, values not equal to the default value should not be written on the application side to variables/bits that have a placeholder/reserved function and have not yet been configured with a function. The placeholders can thus be configured for future functions as in this case.
MTO inputs returns diagnostic data in real-time for each channel:
- Status
� OutputShortCircuit: A short circuit is present at the channel.
� OutputBufferOverflow = TRUE: Indicates that more events were to be transferred at the output than can be stored in the buffer. In CoE 0x80n1:12 [} 132] there is an option to select whether further new events arriving at the output are: - no longer stored in the buffer (default), or - stored in the buffer while older events are deleted
� OutputState: State of output 0/1 for transfer to the process data via EtherCAT. This corresponds to the classic Bool output and can be used in the same way
� InputCycleCounter: The 2-bit counter is used for input process data monitoring. With each process data exchange of the terminal it is incremented by one and is reset to zero when its maximum value of three is exceeded.
� EventsInInputBuffer: Number of saved events remaining in the buffer after the events transmitted for the current cycle have been removed.
� OutputOrderFeedback: Reflects the OutputOrderCounter. Indicates whether the OutputOrderCounter was received and processed by the terminal.
MTO outputs transfers in each cycle the events to be output to the channel, together with switching state 0/1 and switching time (timestamp)
- Ctrl
� OutputBufferReset =TRUE: The channel buffer is cleared. This can make sense, e.g. in the case of a reported OutputBufferOverflow, if the application requires this.
� ManualOutputState and EnableManualOperation: This bit can be used for manual switching of the channel output. A distinction is made between two operating modes
1. In the CoE the object 0x80n1:02 EnableManualOperation [} 132] can be set to TRUE. This deactivates timestamp mode for this channel. The channel can then only be switched via the bit "Manual output state".
2. In the process image the bit "Enable manual operation" is set. The output assumes the state that was specified via the bit "Manual output state". In contrast to the mode described above, processing of the timestamps continues in the background. When the bit "Enable manual operation" is set to False again, the output changes to the status it was allocated through processing of the timestamps.
� ForceOrder: In the default state (i.e. FALSE) only future events are processed. Events in the past can be executed by setting this PDO (i.e. TRUE). This PDO only becomes meaningful when the object 0x80n1:03 EnableTimeCheck [} 132] is activated in the CoE.
� OutputOrderCounter: New switching orders are only entered in the process image when the counter is incremented by the controller.
� NoOfOutputEvents: Number of events to be output in this process data cycle
- Output Bit Array: Bit-by-bit output states as array to the corresponding timestamps
Bit 0: Output value timestamp 1 Bit 1: Output value timestamp 2 etc.
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- Output event time x: List of 32-bit timestamps of the respective signal edge. Each channel has corresponding settings for selection of the operating mode in the CoE from 0x80n1:
Fig. 169: Operating mode selection in CoE from 0x80n1
0x80n1:0 MTO Settings Ch. n=0...7 80n1:01 80n1:02 80n1:03
80n1:11
80n1:12
Name
Entry
Description
Use as +24 V power supply
Switches the selected output in OP mode as 24 V power supply
0x80n1:01 FALSE
Input disabled as power supply
0x80n1:01 TRUE
Input activated as power supply
Enable manual operation
Manual setting of inputs (without timestamp) is enabled. This can be used to test actuators or manual procedures.
0x80n1:02 FALSE
Manual setting of inputs is blocked
0x80n1:02 TRUE
Manual setting of inputs is possible
Enable time check See figure
Output events must be transferred chronologically. If an
0x80n1:03 FALSE EnableTimeCheck event with "outdated" timestamp is transferred to a 0x80n1:03 TRUE Mode 1-3 [} 136] channel, the following decision options are available:
Mode1: Enable time check = 0, Force order = no
meaning:: No "outdated" events are transferred. The
system waits, including overflow (4.29s) where
appropriate, after which the switching order is executed.
If EnableTimeCheck is activated, the timestamp width of 4.29 seconds is subdivided into 2.15 seconds past & 2.15 seconds future. In this case switching orders may only be up to 2.15 seconds in the future. The bit ForceOrder, which is available as PDO in the status register for each channel, is used to specify how the "outdated" timestamp should be handled. Mode2: Enable time check = 1, Force order = 0: "Outdated" event is discarded Mode3:Enable time check = 1, Force order = 1: "Outdated" event is output immediately, i.e. effectively delayed.
Buffer reset behavior
Reset behavior in the event of a reset signal in the status register (PDO)
0x80n1:11 Entry Reset on rising Reset is executed on rising edge. New data can then be
FALSE
edge
buffered right away.
0x80n1:11 Entry Reset on high
TRUE
level
Buffer is held in reset as long as the signal is active. With high cycle times this can result in data loss.
Buffer overflow behavior
Configuration of the behavior if more than 32 events per channel have to be stored
0x80n1:12 Entry Lock buffer FALSE
Overwriting of data is blocked, new events will be lost.
0x80n1:12 Entry Overwrite oldest The oldest data are overwritten, new events are
TRUE
event
retained.
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Fig. 170: EnableTimeCeck Mode 1-3
6.7.2 Commissioning an MTO channel
1. How do I test my actuator? How do I test my actuator? Via the regular process data the outputs cannot be controlled without a time specification. The following procedure can be used to test a connected actuator without time specification: - In the CoE directory 0x80n1:02 EnableManualOperation [} 132] set the bit for the respective channel. - If the terminal is in OP state, the PDO ManualOutputState can be set in MTO Outputs Ctrl
Fig. 171: Manual control
The output can be set to +24 V continuous power supply. If the terminal is in OP state, the output can be activated by setting the bit in CoE 0x80n1:01 UseAs+24VPowerSupply [} 132].
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Fig. 172: Output in +24 V continuous mode
2. Setting the multi-timestamping factor (MTSF)
To facilitate choosing an appropriate MTSF one should estimate how many switching orders per cycle are to be output. The multi-timestamping factor (MTSF) can then be selected. The factor indicates the maximum number of events that can be loaded into the buffer for each EtherCAT cycle.
In order to avoid the transfer of excessive quantities of process data, the following configuration recommendation applies:
MTSF expected maximum number of switching orders per EtherCAT cycle
Example: At a cycle time of 1 ms, a maximum of 5 switching orders/ms per channel are expected. All 8 channels of the EL2258 are to be used.
- MTSF = 5
- Select "Multi-Timestamping 8 Ch. 5x" via the predefined PDO.
Fig. 173: Process data selection (predefined PDO) for synchronous transfer
For each switching order an output bit in the output array (right-justified) and a timestamp are available. These process data are placeholders for the switching orders from the PLC to the channel.
If fewer channels are required, predefined PDOs are also available for 4, 2 or 1 channel(s), with an MTSF of 1x, 2x, 5x and 10x respectively.
3. How are the outputs with timestamp activated?
Procedure during each cycle: - Place all switching orders calculated in the PLC (output state+timestamp[32 bit]) in the PDO - Set NoOfOutputEvents = x (e.g. x=5 if 5 valid switching orders are sent, x must be <= MTSF) - Increment OutputOrderCounter (+ 1). This is the instruction that forces the channel to accept switching orders.
The channel returns OutputOrderFeedback = OutputOrderCounter, once it has accepted the switching orders. This is already the case in the next EtherCAT cycle, as long as the macrocycle time was not violated. Therefore two application types are possible:
- Like with a handshake, the PLC always waits to ascertain whether in the next cycle the channel has responded with OutputOrderFeedback = OutputOrderCounter before sending the next set of switching orders. This reduces the number of switching orders that can be executed per second by 50%. - The PLC does not wait, but continuously sends new switching orders to the channel in each cycle. Nevertheless, it is advisable to check OutputOrderFeedback = OutputOrderCounter in order to ascertain whether a set of switching orders may already have been accepted in the next cycle.
If no new switching orders are to be sent to the channel during a cycle, OutputOrderCounter should simply be left unchanged.
It is recommended to always use (signed) 64-bit times in the PLC. The lower half this time variable can then simply be mapped to the channel PDO. However, note that timestamps/switching orders calculated in the PLC in this way must not be more than approx. 2 seconds in the future.
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6.7.3 Commissioning in compatibility mode EL2252
The multi-timestamp terminals can also be operated in compatibility mode with regard to the EL2252. The following settings are required: Procedure:
- The changeover should only be implemented via the predefined PDO:
Fig. 174: Predefined PDOs for compatibility mode
- CoE 0x70n0:0 MTO outputs Ch.n (n=8...F) can be used for configuration, similar to the EL2252. In addition the EL2252 offers a tristate PDO for high-resistance switching of the channels. This PDO is not available for the EL2258.
0x70n0:0 MTO Output Ch. n=8...F 70n1:01
70n1:11
Name
Output 0x70n0:01 FALSE 0x70n0:01 TRUE Activate
70n0:41
Start Time
Entry Description
Activates output 0 V/24 V of channel n=1..8 0 V present at the output 24 V present at the output This byte activates a new start time in the terminal through the transition 0 --> 3 64-bit value of the next desired switching event
Free PDO selection
No provision is made for free arrangement of the respective PDOs in compatibility mode.
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6.8
Distributed Clocks settings
Determination of the current Distributed Clock time
If the current distributed clock time is required in a PLC cycle, this can
1. be linked via an input variable of the EtherCAT master 2. displayed directly by the terminal as a 64-bit system time
Functions for data types with 64-bit width
A selection of functions for handling 64-bit numbers is available under Beckhoff TwinCAT in the TcUtilities.lib library. Longer execution times are required here than is the case with standard, 32-bit data types. A data type with a width of 64-bits is defined in TcEthercat.lib as T_DCTIME or in TcUtilities.lib as T_LARGE_INTEGER.
1. Via the EtherCAT master
The EtherCAT master can display a copy of the current master distributed clock. To this end activate the setting "Show DC System Time (64 bit)" in the EtherCAT device --> EtherCAT tab --> Advanced Settings --> Distributed Clocks (Fig. Activation of the master distributed clock display).
Fig. 175: Activation of the master distributed clock display
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The process image of the EtherCAT master now looks as shown in Fig. Extended process image of the EtherCAT master:
Fig. 176: Extended process image of the EtherCAT master
SYSTIME
The EtherCAT master value DcSysTime is to be used with care and should serve only as a coarse indication as to which time zone (order of magnitude: 1-2 task cycles) the Distributed Clocks system is currently in.
This is due to the fact that the local time in the terminal is read into associated buffers several �s before retrieving frame. The EtherCAT strand then requires some time for transporting the process data to the master. Due to the character of the visualization, the online display in the TwinCAT System Manager is accurate at best to a three-figure millisecond range. Within a PLC the SysTime process data may also be outdated to a certain degree: depending on when the analysis takes place in the program code, the process data may be several �s/ms older. If responses of an EtherCAT strand (e.g. an EL2258 output terminal) are to be based on a SysTime read in this way, 2-3 PLC cycles should be taken into account as a buffer.
It is more appropriate to use an EL2258 with other EtherCAT slaves that generate a timestamp based on ambient influences, such as the EL1252.
Alternatively, functions can also be called at NC/PLC runtime that immediately return the current DC time, e.g. F_GetCurDcTickTime. Refer to the notes on the TwinCAT time sources in the EtherCAT system documentation.
2. Terminal's own SysTime The MultiTimestamp terminals can offer the local DC system time of the terminal directly as a process data:
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Fig. 177: Setting SysTime
To this end, the "PDO DEV Input Device" has to be activated in the System Manager:
� for EL1258: 0x1A28 � for EL1259: 0x1A38 � for EL2258: 0x1A10
SysTime
The value DcSysTime of the terminal is to be used with care and should serve only as a coarse indication as to which time zone (order of magnitude: +/-1 task cycle) the Distributed Clocks system is currently in. The reason is that the local time in the terminal is only determined once per macro cycle, without specification of the exact time. It is more appropriate to use an EL2258 with other EtherCAT slaves that generate a timestamp based on ambient influences, such as the EL1252. Alternatively, functions can also be called at NC/PLC runtime that immediately return the current DC time, e.g. F_GetCurDcTickTime. Refer to the notes on the TwinCAT time sources in the EtherCAT system documentation.
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SysTime 32/64 bit
The PDO SysTime is filled as follows: - in "CompatibleModus" the 64 bit variable is filled with the full 64 bit distributed clock time - in "MultiTimeStamp Modus" the 64 bit variable is only filled with the lower 32 bit, since this is also the time width of the time stamps.
6.9
CoE object description and parameterization
6.9.1 EL1258
6.9.1.1 Object description � specific objects
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.
Parameterization via the CoE list (CAN over EtherCAT)
The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (allocation of PDOs). Please note the following general CoE information when using/manipulating the CoE parameters [} 30]: - Keep a startup list if components have to be replaced - Differentiation between online/offline dictionary, existence of current XML description - Use "CoE reload" for resetting changes
6.9.1.1.1 Restore object
Index 1011 Restore default parameters
Index (hex) Name
Meaning
Data type
1011:0
Restore default param- Restore default parameters eters
UINT8
1011:01
SubIndex 001
If this object is set to "0x64616F6C" in the set value di- UINT32 alog, all backup objects are reset to their delivery state.
Flags RO
Default 0x01 (1dec)
RW
0x00000000
(0dec)
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6.9.1.1.2 Configuration data
Index 8pp0 MTI settings (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
8pp0:0
MTI settings
Meaning
Data type UINT8
8pp0:01
Enable digital filter
Activation of the filter to hide spikes. The filter length BOOLEAN should be entered in 8pp0:14 "DigitalFilterCount" (further explanation see here [} 130]).
8pp0:11
Buffer reset behavior Specifies the behavior of the "Input buffer reset" bit UINT16
Permitted values:
0 Reset on rising edge: The buffer is cleared with a rising edge of "Input buffer reset"
1 Reset on high level: The buffer is cleared with a rising edge of "Input buffer reset" and does not accept new values until "Input buffer reset" is reset.
8pp0:12
Buffer mode
Specifies whether handshaking is to be used for re- UINT16 trieving the values from the buffer (transmission integrity) or whether new values are to be transferred directly with each PLC cycle (faster).
Permitted values (further explanation see here) [} 128]:
0 Asynchronous (Buffered): The arrival of new events must be acknowledged by the PLC. To this end the byte "No of input events" must be monitored in the PLC program. If it is greater than zero the pending events can be taken over from the process image. Subsequently the byte "Input order counter" must be incremented. This signals the terminal that the events were accepted and new data can be created in the next cycle.
1 Synchronous: New events are automatically transferred with each PLC cycle
8pp0:13
Buffer overflow behav- Specifies the behavior in the event of buffer overflow
ior
Permitted values:
0 Lock buffer: New events are discarded
UINT16
1 Overwrite oldest event: New events overwrite the last events in the buffer
8pp0:14
Digital filter count
Defines the number of event samples to ensure trans- UINT16 fer into the buffer (further explanation see here) [} 130].
Flags RO RW
Default 0x14 (20dec) 0x00 (0dec)
RW
0x0000 (0dec)
RW
0x0001 (1dec)
RW
0x0000 (0dec)
RW
0x0001 (1dec)
Index 8ppF MTI Vendor data (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
8ppF:0
MTI Vendor data
8ppF:11 Offset pos
8ppF:12 Offset neg
Meaning
This object can be used to move the input time of the rising edges. This setting is left to the manufacturer. This object can be used to move the input time of the falling edges. This setting is left to the manufacturer.
Data type UINT8 INT32
INT32
Flags RO RW
RW
Default
0x12 (18dec) 0x00000000 (0dec) 0x00000000 (0dec)
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Index 8pp0 TSI Settings (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
8pp0:0
TSI Settings
8pp0:01
Pos Sample Mode
8pp0:02
Neg Sample Mode
Meaning
During each PLC cycle only one rising edge may be detected at the terminal input. If several edges arrive during a cycle, this bit can be used to decide which edge should be shown in the process image.
Permitted values: 0 Last edge: The last edge of the preceding PLC
cycle is shown 1 First edge: The first edge of the preceding PLC
cycle is shown During each PLC cycle only one falling edge may be detected at the terminal input. If several edges arrive during a cycle, this bit can be used to decide which edge should be shown in the process image.
Permitted values: 0 Last edge: The last edge of the preceding PLC
cycle is shown 1 First edge: The first edge of the preceding PLC
cycle is shown
Data type UINT8 BIT1
BIT1
Flags RO RW
Default 0x02 (2dec) 0x00 (0dec)
RW
0x00 (0dec)
Index 8ppF TSI Vendor data (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
8ppF:0
TSI Vendor data
8ppF:11 Offset pos
8ppF:12 Offset neg
Meaning
This object can be used to move the input time of the rising edges. This setting is left to the manufacturer. This object can be used to move the input time of the falling edges. This setting is left to the manufacturer.
Data type UINT8 INT32
INT32
Flags RO RW
RW
Default
0x12 (18dec) 0x00000000 (0dec) 0x00000000 (0dec)
6.9.1.1.3 Input data
Index 6pp1 MTI inputs (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
6pp1:0
MTI inputs
6pp1:01
No of input events
6pp1:09
6pp1:0A
6pp1:0F
6pp1:11 6pp1:12
6pp1:21
6pp1:22 6pp1:2A 6pp1:41
6pp1:42
Input state
Input buffer overflow
Input cycle counter
Events in input buffer Input order feedback
Input event state 1
Input event state 2 Input event state 10 Input event time 1
Input event time 2
Meaning
Data type
UINT8
Signals the number of new timestamps available in the UINT8 process image. If three is returned, for example, only the objects "Input event state 1...3" and "Input event time 1...3" are valid.
Indicates the current input state at the time of the process data cycle.
BOOLEAN
More events occurred at the input than elements were BOOLEAN free in the buffer for the channel.
Is incremented with each process data cycle and switches to 0 after its maximum value of 3.
BIT2
Signals the number of events currently in the buffer. UINT8
This byte reflects the state of the "Input order counter" UINT8 byte (further explanation see here) [} 128].
Indicates whether the event was a rising (1) or a falling BOOLEAN (0) edge.
...
BOOLEAN
...
BOOLEAN
32-bit timestamp for the corresponding "Input event state n"
UINT32
...
UINT32
6pp1:4A Input event time 10 ...
UINT32
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
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Index 6pp0 TSI Inputs (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
6pp0:0
TSI Inputs
6pp0:01
Input
6pp0:09
Status
6pp0:41 6pp0:42
LatchPos LatchNeg
Meaning
Data type
UINT8
Current input status
BOOLEAN
Bit0: Is set for one cycle if a rising edge was detected. UINT8 Bit1: Is set for one cycle if a falling edge was detected.
Timestamp of the rising edge
UINT64
Timestamp of the falling edge
UINT64
Flags RO RO RO
Default 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
RO RO
Index F611 DEV Inputs
Index (hex) Name
F611:0
DEV Inputs
F611:02 Undervoltage Up
F611:03 Overtemperature
F611:04 F611:21
Checksum error SysTime
Meaning
Data type
UINT8
The nominal operating voltage at the power contacts BOOLEAN was significantly below the minimum value.
Overtemperature fault: The temperature of the input or BOOLEAN output blocks is too high. For output terminals check whether one of the channels is affected by a short circuit.
An error occurred in the internal data transfer
BOOLEAN
DC timestamp of the last input mapping. This timestamp should not be used as reference. (information on DC reference times). [} 139]
UINT64
Flags RO RO
Default 0x21 (33dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
6.9.1.1.4 Output data
Index 7pp0 MTI outputs (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
7pp0:0
MTI outputs
7pp0:01
Input buffer reset
7pp0:11
Input order counter
Meaning
Data type
UINT8
Removes all elements from the buffer
BOOLEAN
Clearing can be achieved through a rising edge or con-
tinuously by applying 1 at this bit. The behavior can be
parameterized via the CoE object 0x8pp0:11 [} 143]
("Buffer reset behavior").
This bit indicates to the terminal that the input events were accepted from the process image and the terminal can copy a new set of input events from the buffer
into the process image during the next cycle (see buffer mode). [} 128]
UINT8
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
6.9.1.1.5 Diagnostic data
Index App0 MTI Diag data (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
App0:0
MTI Diag data
App0:01 Overtemperature
App0:02 Undervoltage
Meaning
The internal terminal temperature is above the valid range. For terminals with output channels check the outputs for short circuit. The voltage at the power contacts is outside the valid range.
Data type UINT8 BOOLEAN
BOOLEAN
Flags RO RO
Default 0x02 (2dec) 0x00 (0dec)
RO
0x00 (0dec)
Index A001 MTI common Diag data
Index (hex) Name
A001:0
MTI common Diag data
A001:11
Checksum error counter
Meaning An error occurred in the internal data transfer
Data type UINT8
UINT16
Flags RO
Default 0x11 (17dec)
RO
0x0000 (0dec)
EL125x, EL2258
Version: 2.8
145
Commissioning
Index A080 TSI common Diag data
Index (hex) Name
Meaning
A080:0
TSI common Diag data
A080:11
Checksum error counter
An error occurred in the internal data transfer
Data type UINT8 UINT16
Flags RO RO
Default 0x11 (17dec) 0x0000 (0dec)
6.9.1.1.6 Information data
Index F900 DEV Info data
Index (hex) Name
F900:0
DEV Info data
F900:08 Cycle Time
F900:09 Sample time
Meaning
Indicates the smallest possible cycle time [} 122] that can be set [ns]. Indicates the sampling time [} 122] of the inputs and outputs [ns].
Data type UINT8 UINT32
UINT32
Flags RO RO
RO
Default
0x00 (0dec) 0x00000000 (0dec)
0x00000000 (0dec)
6.9.1.1.7 Command object
Index FB00 command
The command object was implemented for future use. Currently no commands are supported.
Index (hex) Name
FB00:0
Command
FB00:01 Request
FB00:02 FB00:03
Status Response
Meaning
Data type
UINT8
Commands can be sent to the terminal via the request OCTET-
object.
STRING[2]
Status of the command currently being executed
UINT8
Optional response value of the command
OCTETSTRING[6]
Flags RO RW
Default 0x03 (3dec) {0}
RO
0x00 (0dec)
RO
{0}
6.9.1.2 Object description - standard objects
Index 1000 Device type
Index (hex) Name
1000:0
Device type
Meaning
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.
Data type UINT32
Flags RO
Default
0x00001389 (5001dec)
Index 1008 Device name
Index (hex) Name
1008:0
Device name
Meaning Device name of the EtherCAT slave
Data type STRING
Flags Default
RO
EL1258
Index 1009 Hardware version
Index (hex) Name
1009:0
Hardware version
Meaning Hardware version of the EtherCAT slave
Data type STRING
Flags Default RO
Index 100A Software version
Index (hex) Name
100A:0
Software version
Meaning Firmware version of the EtherCAT slave
Data type STRING
Flags Default
RO
99
146
Version: 2.8
EL125x, EL2258
Commissioning
Index 1018 Identity
Index (hex) Name
1018:0
Identity
1018:01
Vendor ID
1018:02
Product code
1018:03
Revision
1018:04
Serial number
Meaning Information for identifying the slave Vendor ID of the EtherCAT slave
Data type UINT8 UINT32
Product code of the EtherCAT slave
UINT32
Revision number of the EtherCAT slave; the low word UINT32 (bit 0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description
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
Flags RO RO
RO
RO
Default
0x04 (4dec)
0x00000002 (2dec)
0x04EA3052 (82456658dec)
0x00000000 (0dec)
RO
0x00000000
(0dec)
Index 10F0 Backup parameter handling
Index (hex) Name
10F0:0
Backup parameter handling
10F0:01 Checksum
Meaning
Information for standardized loading and saving of backup entries
Checksum across all backup entries of the EtherCAT slave
Data type UINT8
UINT32
Index 1600 MTI RxPDO-Map Outputs Ch.1
Index (hex) Name
Meaning
1600:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 1 puts Ch.1
1600:01
SubIndex 001
1. PDO Mapping entry (object 0x7000 (MTI outputs Ch.1), entry 0x01 (Input buffer reset))
1600:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1600:03
SubIndex 003
3. PDO Mapping entry (object 0x7000 (MTI outputs Ch.1), entry 0x11 (Input order counter))
1600:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x00000000
(0dec)
Flags RO
Default 0x04 (4dec)
RO
0x7000:01, 1
RO
0x0000:00, 15
RO
0x7000:11, 8
RO
0x0000:00, 8
Index 1601 MTI RxPDO-Map Outputs Ch.2
Index (hex) Name
Meaning
1601:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 2 puts Ch.2
1601:01
SubIndex 001
1. PDO Mapping entry (object 0x7010 (MTI outputs Ch.2), entry 0x01 (Input buffer reset))
1601:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1601:03
SubIndex 003
3. PDO Mapping entry (object 0x7010 (MTI outputs Ch.2), entry 0x11 (Input order counter))
1601:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x7010:01, 1
RO
0x0000:00, 15
RO
0x7010:11, 8
RO
0x0000:00, 8
Index 1602 MTI RxPDO-Map Outputs Ch.3
Index (hex) Name
Meaning
1602:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 3 puts Ch.3
1602:01
SubIndex 001
1. PDO Mapping entry (object 0x7020 (MTI outputs Ch.3), entry 0x01 (Input buffer reset))
1602:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1602:03
SubIndex 003
3. PDO Mapping entry (object 0x7020 (MTI outputs Ch.3), entry 0x11 (Input order counter))
1602:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x7020:01, 1
RO
0x0000:00, 15
RO
0x7020:11, 8
RO
0x0000:00, 8
EL125x, EL2258
Version: 2.8
147
Commissioning
Index 1603 MTI RxPDO-Map Outputs Ch.4
Index (hex) Name
Meaning
1603:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 4 puts Ch.4
1603:01
SubIndex 001
1. PDO Mapping entry (object 0x7030 (MTI outputs Ch.4), entry 0x01 (Input buffer reset))
1603:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1603:03
SubIndex 003
3. PDO Mapping entry (object 0x7030 (MTI outputs Ch.4), entry 0x11 (Input order counter))
1603:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x7030:01, 1
RO
0x0000:00, 15
RO
0x7030:11, 8
RO
0x0000:00, 8
Index 1604 MTI RxPDO-Map Outputs Ch.5
Index (hex) Name
Meaning
1604:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 5 puts Ch.5
1604:01
SubIndex 001
1. PDO Mapping entry (object 0x7040 (MTI outputs Ch.5), entry 0x01 (Input buffer reset))
1604:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1604:03
SubIndex 003
3. PDO Mapping entry (object 0x7040 (MTI outputs Ch.5), entry 0x11 (Input order counter))
1604:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x7040:01, 1
RO
0x0000:00, 15
RO
0x7040:11, 8
RO
0x0000:00, 8
Index 1605 MTI RxPDO-Map Outputs Ch.6
Index (hex) Name
Meaning
1605:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 6 puts Ch.6
1605:01
SubIndex 001
1. PDO Mapping entry (object 0x7050 (MTI outputs Ch.6), entry 0x01 (Input buffer reset))
1605:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1605:03
SubIndex 003
3. PDO Mapping entry (object 0x7050 (MTI outputs Ch.6), entry 0x11 (Input order counter))
1605:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x7050:01, 1
RO
0x0000:00, 15
RO
0x7050:11, 8
RO
0x0000:00, 8
Index 1606 MTI RxPDO-Map Outputs Ch.7
Index (hex) Name
Meaning
1606:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 7 puts Ch.7
1606:01
SubIndex 001
1. PDO Mapping entry (object 0x7060 (MTI outputs Ch.7), entry 0x01 (Input buffer reset))
1606:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1606:03
SubIndex 003
3. PDO Mapping entry (object 0x7060 (MTI outputs Ch.7), entry 0x11 (Input order counter))
1606:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x7060:01, 1
RO
0x0000:00, 15
RO
0x7060:11, 8
RO
0x0000:00, 8
Index 1607 MTI RxPDO-Map Outputs Ch.8
Index (hex) Name
Meaning
1607:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 8 puts Ch.8
1607:01
SubIndex 001
1. PDO Mapping entry (object 0x7070 (MTI outputs Ch.8), entry 0x01 (Input buffer reset))
1607:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1607:03
SubIndex 003
3. PDO Mapping entry (object 0x7070 (MTI outputs Ch.8), entry 0x11 (Input order counter))
1607:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x7070:01, 1
RO
0x0000:00, 15
RO
0x7070:11, 8
RO
0x0000:00, 8
148
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A00 MTI TxPDO-Map Inputs 10x Ch.1
Index (hex) Name
1A00:0
MTI TxPDO-Map Inputs 10x Ch.1
1A00:01 SubIndex 001
1A00:02 SubIndex 002
1A00:03 SubIndex 003
1A00:04 1A00:05
SubIndex 004 SubIndex 005
1A00:06 SubIndex 006
1A00:07 SubIndex 007
1A00:08 SubIndex 008
1A00:09 SubIndex 009
1A00:0A SubIndex 010
1A00:0B SubIndex 011
1A00:0C SubIndex 012
1A00:0D SubIndex 013
1A00:0E SubIndex 014
1A00:0F SubIndex 015
1A00:10 SubIndex 016
1A00:11 SubIndex 017
1A00:12 1A00:13
SubIndex 018 SubIndex 019
1A00:14 SubIndex 020
1A00:15 SubIndex 021
1A00:16 SubIndex 022
1A00:17 SubIndex 023
1A00:18 SubIndex 024
1A00:19 SubIndex 025
1A00:1A SubIndex 026
1A00:1B SubIndex 027
1A00:1C SubIndex 028
Meaning
PDO Mapping TxPDO 1
1. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6001:01, 8
RO
0x6001:09, 1
RO
0x6001:0A, 1
RO
0x0000:00, 4
RO
0x6001:0F, 2
RO
0x6001:11, 8
RO
0x6001:12, 8
RO
0x6001:21, 1
RO
0x6001:22, 1
RO
0x6001:23, 1
RO
0x6001:24, 1
RO
0x6001:25, 1
RO
0x6001:26, 1
RO
0x6001:27, 1
RO
0x6001:28, 1
RO
0x6001:29, 1
RO
0x6001:2A, 1
RO
0x0000:00, 22
RO
0x6001:41, 32
RO
0x6001:42, 32
RO
0x6001:43, 32
RO
0x6001:44, 32
RO
0x6001:45, 32
RO
0x6001:46, 32
RO
0x6001:47, 32
RO
0x6001:48, 32
RO
0x6001:49, 32
RO
0x6001:4A, 32
EL125x, EL2258
Version: 2.8
149
Commissioning
Index 1A01 MTI TxPDO-Map Inputs 5x Ch.1
Index (hex) Name
1A01:0
MTI TxPDO-Map Inputs 5x Ch.1
1A01:01 SubIndex 001
1A01:02 SubIndex 002
1A01:03 SubIndex 003
1A01:04 1A01:05
SubIndex 004 SubIndex 005
1A01:06 SubIndex 006
1A01:07 SubIndex 007
1A01:08 SubIndex 008
1A01:09 SubIndex 009
1A01:0A SubIndex 010
1A01:0B SubIndex 011
1A01:0C SubIndex 012
1A01:0D 1A01:0E
SubIndex 013 SubIndex 014
1A01:0F SubIndex 015
1A01:10 SubIndex 016
1A01:11 SubIndex 017
1A01:12 SubIndex 018
Meaning
PDO Mapping TxPDO 2
1. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6001:01, 8
RO
0x6001:09, 1
RO
0x6001:0A, 1
RO
0x0000:00, 4
RO
0x6001:0F, 2
RO
0x6001:11, 8
RO
0x6001:12, 8
RO
0x6001:21, 1
RO
0x6001:22, 1
RO
0x6001:23, 1
RO
0x6001:24, 1
RO
0x6001:25, 1
RO
0x0000:00, 27
RO
0x6001:41, 32
RO
0x6001:42, 32
RO
0x6001:43, 32
RO
0x6001:44, 32
RO
0x6001:45, 32
Index 1A02 MTI TxPDO-Map Inputs 2x Ch.1
Index (hex) Name
1A02:0
MTI TxPDO-Map Inputs 2x Ch.1
1A02:01 SubIndex 001
1A02:02 SubIndex 002
1A02:03 SubIndex 003
1A02:04 1A02:05
SubIndex 004 SubIndex 005
1A02:06 SubIndex 006
1A02:07 SubIndex 007
1A02:08 SubIndex 008
1A02:09 SubIndex 009
1A02:0A 1A02:0B
SubIndex 010 SubIndex 011
1A02:0C SubIndex 012
Meaning PDO Mapping TxPDO 3
1. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6001:01, 8
RO
0x6001:09, 1
RO
0x6001:0A, 1
RO
0x0000:00, 4
RO
0x6001:0F, 2
RO
0x6001:11, 8
RO
0x6001:12, 8
RO
0x6001:21, 1
RO
0x6001:22, 1
RO
0x0000:00, 30
RO
0x6001:41, 32
RO
0x6001:42, 32
150
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A03 MTI TxPDO-Map Inputs 1x Ch.1
Index (hex) Name
1A03:0
MTI TxPDO-Map Inputs 1x Ch.1
1A03:01 SubIndex 001
1A03:02 SubIndex 002
1A03:03 SubIndex 003
1A03:04 1A03:05
SubIndex 004 SubIndex 005
1A03:06 SubIndex 006
1A03:07 SubIndex 007
1A03:08 SubIndex 008
1A03:09 1A03:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 4
1. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6001 (MTI inputs Ch.1), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6001:01, 8
RO
0x6001:09, 1
RO
0x6001:0A, 1
RO
0x0000:00, 4
RO
0x6001:0F, 2
RO
0x6001:11, 8
RO
0x6001:12, 8
RO
0x6001:21, 1
RO
0x0000:00, 31
RO
0x6001:41, 32
EL125x, EL2258
Version: 2.8
151
Commissioning
Index 1A04 MTI TxPDO-Map Inputs 10x Ch.2
Index (hex) Name
1A04:0
MTI TxPDO-Map Inputs 10x Ch.2
1A04:01 SubIndex 001
1A04:02 SubIndex 002
1A04:03 SubIndex 003
1A04:04 1A04:05
SubIndex 004 SubIndex 005
1A04:06 SubIndex 006
1A04:07 SubIndex 007
1A04:08 SubIndex 008
1A04:09 SubIndex 009
1A04:0A SubIndex 010
1A04:0B SubIndex 011
1A04:0C SubIndex 012
1A04:0D SubIndex 013
1A04:0E SubIndex 014
1A04:0F SubIndex 015
1A04:10 SubIndex 016
1A04:11 SubIndex 017
1A04:12 1A04:13
SubIndex 018 SubIndex 019
1A04:14 SubIndex 020
1A04:15 SubIndex 021
1A04:16 SubIndex 022
1A04:17 SubIndex 023
1A04:18 SubIndex 024
1A04:19 SubIndex 025
1A04:1A SubIndex 026
1A04:1B SubIndex 027
1A04:1C SubIndex 028
Meaning
PDO Mapping TxPDO 5
1. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6011:01, 8
RO
0x6011:09, 1
RO
0x6011:0A, 1
RO
0x0000:00, 4
RO
0x6011:0F, 2
RO
0x6011:11, 8
RO
0x6011:12, 8
RO
0x6011:21, 1
RO
0x6011:22, 1
RO
0x6011:23, 1
RO
0x6011:24, 1
RO
0x6011:25, 1
RO
0x6011:26, 1
RO
0x6011:27, 1
RO
0x6011:28, 1
RO
0x6011:29, 1
RO
0x6011:2A, 1
RO
0x0000:00, 22
RO
0x6011:41, 32
RO
0x6011:42, 32
RO
0x6011:43, 32
RO
0x6011:44, 32
RO
0x6011:45, 32
RO
0x6011:46, 32
RO
0x6011:47, 32
RO
0x6011:48, 32
RO
0x6011:49, 32
RO
0x6011:4A, 32
152
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A05 MTI TxPDO-Map Inputs 5x Ch.2
Index (hex) Name
1A05:0
MTI TxPDO-Map Inputs 5x Ch.2
1A05:01 SubIndex 001
1A05:02 SubIndex 002
1A05:03 SubIndex 003
1A05:04 1A05:05
SubIndex 004 SubIndex 005
1A05:06 SubIndex 006
1A05:07 SubIndex 007
1A05:08 SubIndex 008
1A05:09 SubIndex 009
1A05:0A SubIndex 010
1A05:0B SubIndex 011
1A05:0C SubIndex 012
1A05:0D 1A05:0E
SubIndex 013 SubIndex 014
1A05:0F SubIndex 015
1A05:10 SubIndex 016
1A05:11 SubIndex 017
1A05:12 SubIndex 018
Meaning
PDO Mapping TxPDO 6
1. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6011:01, 8
RO
0x6011:09, 1
RO
0x6011:0A, 1
RO
0x0000:00, 4
RO
0x6011:0F, 2
RO
0x6011:11, 8
RO
0x6011:12, 8
RO
0x6011:21, 1
RO
0x6011:22, 1
RO
0x6011:23, 1
RO
0x6011:24, 1
RO
0x6011:25, 1
RO
0x0000:00, 27
RO
0x6011:41, 32
RO
0x6011:42, 32
RO
0x6011:43, 32
RO
0x6011:44, 32
RO
0x6011:45, 32
Index 1A06 MTI TxPDO-Map Inputs 2x Ch.2
Index (hex) Name
1A06:0
MTI TxPDO-Map Inputs 2x Ch.2
1A06:01 SubIndex 001
1A06:02 SubIndex 002
1A06:03 SubIndex 003
1A06:04 1A06:05
SubIndex 004 SubIndex 005
1A06:06 SubIndex 006
1A06:07 SubIndex 007
1A06:08 SubIndex 008
1A06:09 SubIndex 009
1A06:0A 1A06:0B
SubIndex 010 SubIndex 011
1A06:0C SubIndex 012
Meaning PDO Mapping TxPDO 7
1. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6011:01, 8
RO
0x6011:09, 1
RO
0x6011:0A, 1
RO
0x0000:00, 4
RO
0x6011:0F, 2
RO
0x6011:11, 8
RO
0x6011:12, 8
RO
0x6011:21, 1
RO
0x6011:22, 1
RO
0x0000:00, 30
RO
0x6011:41, 32
RO
0x6011:42, 32
EL125x, EL2258
Version: 2.8
153
Commissioning
Index 1A07 MTI TxPDO-Map Inputs 1x Ch.2
Index (hex) Name
1A07:0
MTI TxPDO-Map Inputs 1x Ch.2
1A07:01 SubIndex 001
1A07:02 SubIndex 002
1A07:03 SubIndex 003
1A07:04 1A07:05
SubIndex 004 SubIndex 005
1A07:06 SubIndex 006
1A07:07 SubIndex 007
1A07:08 SubIndex 008
1A07:09 1A07:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 8
1. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6011 (MTI inputs Ch.2), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6011:01, 8
RO
0x6011:09, 1
RO
0x6011:0A, 1
RO
0x0000:00, 4
RO
0x6011:0F, 2
RO
0x6011:11, 8
RO
0x6011:12, 8
RO
0x6011:21, 1
RO
0x0000:00, 31
RO
0x6011:41, 32
154
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A08 MTI TxPDO-Map Inputs 10x Ch.3
Index (hex) Name
1A08:0
MTI TxPDO-Map Inputs 10x Ch.3
1A08:01 SubIndex 001
1A08:02 SubIndex 002
1A08:03 SubIndex 003
1A08:04 1A08:05
SubIndex 004 SubIndex 005
1A08:06 SubIndex 006
1A08:07 SubIndex 007
1A08:08 SubIndex 008
1A08:09 SubIndex 009
1A08:0A SubIndex 010
1A08:0B SubIndex 011
1A08:0C SubIndex 012
1A08:0D SubIndex 013
1A08:0E SubIndex 014
1A08:0F SubIndex 015
1A08:10 SubIndex 016
1A08:11 SubIndex 017
1A08:12 1A08:13
SubIndex 018 SubIndex 019
1A08:14 SubIndex 020
1A08:15 SubIndex 021
1A08:16 SubIndex 022
1A08:17 SubIndex 023
1A08:18 SubIndex 024
1A08:19 SubIndex 025
1A08:1A SubIndex 026
1A08:1B SubIndex 027
1A08:1C SubIndex 028
Meaning
PDO Mapping TxPDO 9
1. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6021:01, 8
RO
0x6021:09, 1
RO
0x6021:0A, 1
RO
0x0000:00, 4
RO
0x6021:0F, 2
RO
0x6021:11, 8
RO
0x6021:12, 8
RO
0x6021:21, 1
RO
0x6021:22, 1
RO
0x6021:23, 1
RO
0x6021:24, 1
RO
0x6021:25, 1
RO
0x6021:26, 1
RO
0x6021:27, 1
RO
0x6021:28, 1
RO
0x6021:29, 1
RO
0x6021:2A, 1
RO
0x0000:00, 22
RO
0x6021:41, 32
RO
0x6021:42, 32
RO
0x6021:43, 32
RO
0x6021:44, 32
RO
0x6021:45, 32
RO
0x6021:46, 32
RO
0x6021:47, 32
RO
0x6021:48, 32
RO
0x6021:49, 32
RO
0x6021:4A, 32
EL125x, EL2258
Version: 2.8
155
Commissioning
Index 1A09 MTI TxPDO-Map Inputs 5x Ch.3
Index (hex) Name
1A09:0
MTI TxPDO-Map Inputs 5x Ch.3
1A09:01 SubIndex 001
1A09:02 SubIndex 002
1A09:03 SubIndex 003
1A09:04 1A09:05
SubIndex 004 SubIndex 005
1A09:06 SubIndex 006
1A09:07 SubIndex 007
1A09:08 SubIndex 008
1A09:09 SubIndex 009
1A09:0A SubIndex 010
1A09:0B SubIndex 011
1A09:0C SubIndex 012
1A09:0D 1A09:0E
SubIndex 013 SubIndex 014
1A09:0F SubIndex 015
1A09:10 SubIndex 016
1A09:11 SubIndex 017
1A09:12 SubIndex 018
Meaning
PDO Mapping TxPDO 10
1. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6021:01, 8
RO
0x6021:09, 1
RO
0x6021:0A, 1
RO
0x0000:00, 4
RO
0x6021:0F, 2
RO
0x6021:11, 8
RO
0x6021:12, 8
RO
0x6021:21, 1
RO
0x6021:22, 1
RO
0x6021:23, 1
RO
0x6021:24, 1
RO
0x6021:25, 1
RO
0x0000:00, 27
RO
0x6021:41, 32
RO
0x6021:42, 32
RO
0x6021:43, 32
RO
0x6021:44, 32
RO
0x6021:45, 32
Index 1A0A MTI TxPDO-Map Inputs 2x Ch.3
Index (hex) Name
1A0A:0
MTI TxPDO-Map Inputs 2x Ch.3
1A0A:01 SubIndex 001
1A0A:02 SubIndex 002
1A0A:03 SubIndex 003
1A0A:04 1A0A:05
SubIndex 004 SubIndex 005
1A0A:06 SubIndex 006
1A0A:07 SubIndex 007
1A0A:08 SubIndex 008
1A0A:09 SubIndex 009
1A0A:0A 1A0A:0B
SubIndex 010 SubIndex 011
1A0A:0C SubIndex 012
Meaning PDO Mapping TxPDO 11
1. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6021:01, 8
RO
0x6021:09, 1
RO
0x6021:0A, 1
RO
0x0000:00, 4
RO
0x6021:0F, 2
RO
0x6021:11, 8
RO
0x6021:12, 8
RO
0x6021:21, 1
RO
0x6021:22, 1
RO
0x0000:00, 30
RO
0x6021:41, 32
RO
0x6021:42, 32
156
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A0B MTI TxPDO-Map Inputs 1x Ch.3
Index (hex) Name
1A0B:0
MTI TxPDO-Map Inputs 1x Ch.3
1A0B:01 SubIndex 001
1A0B:02 SubIndex 002
1A0B:03 SubIndex 003
1A0B:04 1A0B:05
SubIndex 004 SubIndex 005
1A0B:06 SubIndex 006
1A0B:07 SubIndex 007
1A0B:08 SubIndex 008
1A0B:09 1A0B:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 12
1. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6021 (MTI inputs Ch.3), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6021:01, 8
RO
0x6021:09, 1
RO
0x6021:0A, 1
RO
0x0000:00, 4
RO
0x6021:0F, 2
RO
0x6021:11, 8
RO
0x6021:12, 8
RO
0x6021:21, 1
RO
0x0000:00, 31
RO
0x6021:41, 32
EL125x, EL2258
Version: 2.8
157
Commissioning
Index 1A0C MTI TxPDO-Map Inputs 10x Ch.4
Index (hex) Name
1A0C:0
MTI TxPDO-Map Inputs 10x Ch.4
1A0C:01 SubIndex 001
1A0C:02 SubIndex 002
1A0C:03 SubIndex 003
1A0C:04 1A0C:05
SubIndex 004 SubIndex 005
1A0C:06 SubIndex 006
1A0C:07 SubIndex 007
1A0C:08 SubIndex 008
1A0C:09 SubIndex 009
1A0C:0A SubIndex 010
1A0C:0B SubIndex 011
1A0C:0C SubIndex 012
1A0C:0D SubIndex 013
1A0C:0E SubIndex 014
1A0C:0F SubIndex 015
1A0C:10 SubIndex 016
1A0C:11 SubIndex 017
1A0C:12 1A0C:13
SubIndex 018 SubIndex 019
1A0C:14 SubIndex 020
1A0C:15 SubIndex 021
1A0C:16 SubIndex 022
1A0C:17 SubIndex 023
1A0C:18 SubIndex 024
1A0C:19 SubIndex 025
1A0C:1A SubIndex 026
1A0C:1B SubIndex 027
1A0C:1C SubIndex 028
Meaning
PDO Mapping TxPDO 13
1. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6031:01, 8
RO
0x6031:09, 1
RO
0x6031:0A, 1
RO
0x0000:00, 4
RO
0x6031:0F, 2
RO
0x6031:11, 8
RO
0x6031:12, 8
RO
0x6031:21, 1
RO
0x6031:22, 1
RO
0x6031:23, 1
RO
0x6031:24, 1
RO
0x6031:25, 1
RO
0x6031:26, 1
RO
0x6031:27, 1
RO
0x6031:28, 1
RO
0x6031:29, 1
RO
0x6031:2A, 1
RO
0x0000:00, 22
RO
0x6031:41, 32
RO
0x6031:42, 32
RO
0x6031:43, 32
RO
0x6031:44, 32
RO
0x6031:45, 32
RO
0x6031:46, 32
RO
0x6031:47, 32
RO
0x6031:48, 32
RO
0x6031:49, 32
RO
0x6031:4A, 32
158
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A0D MTI TxPDO-Map Inputs 5x Ch.4
Index (hex) Name
1A0D:0
MTI TxPDO-Map Inputs 5x Ch.4
1A0D:01 SubIndex 001
1A0D:02 SubIndex 002
1A0D:03 SubIndex 003
1A0D:04 1A0D:05
SubIndex 004 SubIndex 005
1A0D:06 SubIndex 006
1A0D:07 SubIndex 007
1A0D:08 SubIndex 008
1A0D:09 SubIndex 009
1A0D:0A SubIndex 010
1A0D:0B SubIndex 011
1A0D:0C SubIndex 012
1A0D:0D 1A0D:0E
SubIndex 013 SubIndex 014
1A0D:0F SubIndex 015
1A0D:10 SubIndex 016
1A0D:11 SubIndex 017
1A0D:12 SubIndex 018
Meaning
PDO Mapping TxPDO 14
1. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6031:01, 8
RO
0x6031:09, 1
RO
0x6031:0A, 1
RO
0x0000:00, 4
RO
0x6031:0F, 2
RO
0x6031:11, 8
RO
0x6031:12, 8
RO
0x6031:21, 1
RO
0x6031:22, 1
RO
0x6031:23, 1
RO
0x6031:24, 1
RO
0x6031:25, 1
RO
0x0000:00, 27
RO
0x6031:41, 32
RO
0x6031:42, 32
RO
0x6031:43, 32
RO
0x6031:44, 32
RO
0x6031:45, 32
Index 1A0E MTI TxPDO-Map Inputs 2x Ch.4
Index (hex) Name
1A0E:0
MTI TxPDO-Map Inputs 2x Ch.4
1A0E:01 SubIndex 001
1A0E:02 SubIndex 002
1A0E:03 SubIndex 003
1A0E:04 1A0E:05
SubIndex 004 SubIndex 005
1A0E:06 SubIndex 006
1A0E:07 SubIndex 007
1A0E:08 SubIndex 008
1A0E:09 SubIndex 009
1A0E:0A 1A0E:0B
SubIndex 010 SubIndex 011
1A0E:0C SubIndex 012
Meaning PDO Mapping TxPDO 15
1. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6031:01, 8
RO
0x6031:09, 1
RO
0x6031:0A, 1
RO
0x0000:00, 4
RO
0x6031:0F, 2
RO
0x6031:11, 8
RO
0x6031:12, 8
RO
0x6031:21, 1
RO
0x6031:22, 1
RO
0x0000:00, 30
RO
0x6031:41, 32
RO
0x6031:42, 32
EL125x, EL2258
Version: 2.8
159
Commissioning
Index 1A0F MTI TxPDO-Map Inputs 1x Ch.4
Index (hex) Name
1A0F:0
MTI TxPDO-Map Inputs 1x Ch.4
1A0F:01 SubIndex 001
1A0F:02 SubIndex 002
1A0F:03 SubIndex 003
1A0F:04 1A0F:05
SubIndex 004 SubIndex 005
1A0F:06 SubIndex 006
1A0F:07 SubIndex 007
1A0F:08 SubIndex 008
1A0F:09 1A0F:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 16
1. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6031 (MTI inputs Ch.4), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6031:01, 8
RO
0x6031:09, 1
RO
0x6031:0A, 1
RO
0x0000:00, 4
RO
0x6031:0F, 2
RO
0x6031:11, 8
RO
0x6031:12, 8
RO
0x6031:21, 1
RO
0x0000:00, 31
RO
0x6031:41, 32
160
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A10 MTI TxPDO-Map Inputs 10x Ch.5
Index (hex) Name
1A10:0
MTI TxPDO-Map Inputs 10x Ch.5
1A10:01 SubIndex 001
1A10:02 SubIndex 002
1A10:03 SubIndex 003
1A10:04 1A10:05
SubIndex 004 SubIndex 005
1A10:06 SubIndex 006
1A10:07 SubIndex 007
1A10:08 SubIndex 008
1A10:09 SubIndex 009
1A10:0A SubIndex 010
1A10:0B SubIndex 011
1A10:0C SubIndex 012
1A10:0D SubIndex 013
1A10:0E SubIndex 014
1A10:0F SubIndex 015
1A10:10 SubIndex 016
1A10:11 SubIndex 017
1A10:12 1A10:13
SubIndex 018 SubIndex 019
1A10:14 SubIndex 020
1A10:15 SubIndex 021
1A10:16 SubIndex 022
1A10:17 SubIndex 023
1A10:18 SubIndex 024
1A10:19 SubIndex 025
1A10:1A SubIndex 026
1A10:1B SubIndex 027
1A10:1C SubIndex 028
Meaning
PDO Mapping TxPDO 17
1. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6041:01, 8
RO
0x6041:09, 1
RO
0x6041:0A, 1
RO
0x0000:00, 4
RO
0x6041:0F, 2
RO
0x6041:11, 8
RO
0x6041:12, 8
RO
0x6041:21, 1
RO
0x6041:22, 1
RO
0x6041:23, 1
RO
0x6041:24, 1
RO
0x6041:25, 1
RO
0x6041:26, 1
RO
0x6041:27, 1
RO
0x6041:28, 1
RO
0x6041:29, 1
RO
0x6041:2A, 1
RO
0x0000:00, 22
RO
0x6041:41, 32
RO
0x6041:42, 32
RO
0x6041:43, 32
RO
0x6041:44, 32
RO
0x6041:45, 32
RO
0x6041:46, 32
RO
0x6041:47, 32
RO
0x6041:48, 32
RO
0x6041:49, 32
RO
0x6041:4A, 32
EL125x, EL2258
Version: 2.8
161
Commissioning
Index 1A11 MTI TxPDO-Map Inputs 5x Ch.5
Index (hex) Name
1A11:0
MTI TxPDO-Map Inputs 5x Ch.5
1A11:01 SubIndex 001
1A11:02 SubIndex 002
1A11:03 SubIndex 003
1A11:04 1A11:05
SubIndex 004 SubIndex 005
1A11:06 SubIndex 006
1A11:07 SubIndex 007
1A11:08 SubIndex 008
1A11:09 SubIndex 009
1A11:0A SubIndex 010
1A11:0B SubIndex 011
1A11:0C SubIndex 012
1A11:0D 1A11:0E
SubIndex 013 SubIndex 014
1A11:0F SubIndex 015
1A11:10 SubIndex 016
1A11:11 SubIndex 017
1A11:12 SubIndex 018
Meaning
PDO Mapping TxPDO 18
1. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6041:01, 8
RO
0x6041:09, 1
RO
0x6041:0A, 1
RO
0x0000:00, 4
RO
0x6041:0F, 2
RO
0x6041:11, 8
RO
0x6041:12, 8
RO
0x6041:21, 1
RO
0x6041:22, 1
RO
0x6041:23, 1
RO
0x6041:24, 1
RO
0x6041:25, 1
RO
0x0000:00, 27
RO
0x6041:41, 32
RO
0x6041:42, 32
RO
0x6041:43, 32
RO
0x6041:44, 32
RO
0x6041:45, 32
Index 1A12 MTI TxPDO-Map Inputs 2x Ch.5
Index (hex) Name
1A12:0
MTI TxPDO-Map Inputs 2x Ch.5
1A12:01 SubIndex 001
1A12:02 SubIndex 002
1A12:03 SubIndex 003
1A12:04 1A12:05
SubIndex 004 SubIndex 005
1A12:06 SubIndex 006
1A12:07 SubIndex 007
1A12:08 SubIndex 008
1A12:09 SubIndex 009
1A12:0A 1A12:0B
SubIndex 010 SubIndex 011
1A12:0C SubIndex 012
Meaning PDO Mapping TxPDO 19
1. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6041:01, 8
RO
0x6041:09, 1
RO
0x6041:0A, 1
RO
0x0000:00, 4
RO
0x6041:0F, 2
RO
0x6041:11, 8
RO
0x6041:12, 8
RO
0x6041:21, 1
RO
0x6041:22, 1
RO
0x0000:00, 30
RO
0x6041:41, 32
RO
0x6041:42, 32
162
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A13 MTI TxPDO-Map Inputs 1x Ch.5
Index (hex) Name
1A13:0
MTI TxPDO-Map Inputs 1x Ch.5
1A13:01 SubIndex 001
1A13:02 SubIndex 002
1A13:03 SubIndex 003
1A13:04 1A13:05
SubIndex 004 SubIndex 005
1A13:06 SubIndex 006
1A13:07 SubIndex 007
1A13:08 SubIndex 008
1A13:09 1A13:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 20
1. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6041 (MTI inputs Ch.5), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6041:01, 8
RO
0x6041:09, 1
RO
0x6041:0A, 1
RO
0x0000:00, 4
RO
0x6041:0F, 2
RO
0x6041:11, 8
RO
0x6041:12, 8
RO
0x6041:21, 1
RO
0x0000:00, 31
RO
0x6041:41, 32
EL125x, EL2258
Version: 2.8
163
Commissioning
Index 1A14 MTI TxPDO-Map Inputs 10x Ch.6
Index (hex) Name
1A14:0
MTI TxPDO-Map Inputs 10x Ch.6
1A14:01 SubIndex 001
1A14:02 SubIndex 002
1A14:03 SubIndex 003
1A14:04 1A14:05
SubIndex 004 SubIndex 005
1A14:06 SubIndex 006
1A14:07 SubIndex 007
1A14:08 SubIndex 008
1A14:09 SubIndex 009
1A14:0A SubIndex 010
1A14:0B SubIndex 011
1A14:0C SubIndex 012
1A14:0D SubIndex 013
1A14:0E SubIndex 014
1A14:0F SubIndex 015
1A14:10 SubIndex 016
1A14:11 SubIndex 017
1A14:12 1A14:13
SubIndex 018 SubIndex 019
1A14:14 SubIndex 020
1A14:15 SubIndex 021
1A14:16 SubIndex 022
1A14:17 SubIndex 023
1A14:18 SubIndex 024
1A14:19 SubIndex 025
1A14:1A SubIndex 026
1A14:1B SubIndex 027
1A14:1C SubIndex 028
Meaning
PDO Mapping TxPDO 21
1. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6051:01, 8
RO
0x6051:09, 1
RO
0x6051:0A, 1
RO
0x0000:00, 4
RO
0x6051:0F, 2
RO
0x6051:11, 8
RO
0x6051:12, 8
RO
0x6051:21, 1
RO
0x6051:22, 1
RO
0x6051:23, 1
RO
0x6051:24, 1
RO
0x6051:25, 1
RO
0x6051:26, 1
RO
0x6051:27, 1
RO
0x6051:28, 1
RO
0x6051:29, 1
RO
0x6051:2A, 1
RO
0x0000:00, 22
RO
0x6051:41, 32
RO
0x6051:42, 32
RO
0x6051:43, 32
RO
0x6051:44, 32
RO
0x6051:45, 32
RO
0x6051:46, 32
RO
0x6051:47, 32
RO
0x6051:48, 32
RO
0x6051:49, 32
RO
0x6051:4A, 32
164
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A15 MTI TxPDO-Map Inputs 5x Ch.6
Index (hex) Name
1A15:0
MTI TxPDO-Map Inputs 5x Ch.6
1A15:01 SubIndex 001
1A15:02 SubIndex 002
1A15:03 SubIndex 003
1A15:04 1A15:05
SubIndex 004 SubIndex 005
1A15:06 SubIndex 006
1A15:07 SubIndex 007
1A15:08 SubIndex 008
1A15:09 SubIndex 009
1A15:0A SubIndex 010
1A15:0B SubIndex 011
1A15:0C SubIndex 012
1A15:0D 1A15:0E
SubIndex 013 SubIndex 014
1A15:0F SubIndex 015
1A15:10 SubIndex 016
1A15:11 SubIndex 017
1A15:12 SubIndex 018
Meaning
PDO Mapping TxPDO 22
1. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6051:01, 8
RO
0x6051:09, 1
RO
0x6051:0A, 1
RO
0x0000:00, 4
RO
0x6051:0F, 2
RO
0x6051:11, 8
RO
0x6051:12, 8
RO
0x6051:21, 1
RO
0x6051:22, 1
RO
0x6051:23, 1
RO
0x6051:24, 1
RO
0x6051:25, 1
RO
0x0000:00, 27
RO
0x6051:41, 32
RO
0x6051:42, 32
RO
0x6051:43, 32
RO
0x6051:44, 32
RO
0x6051:45, 32
Index 1A16 MTI TxPDO-Map Inputs 2x Ch.6
Index (hex) Name
1A16:0
MTI TxPDO-Map Inputs 2x Ch.6
1A16:01 SubIndex 001
1A16:02 SubIndex 002
1A16:03 SubIndex 003
1A16:04 1A16:05
SubIndex 004 SubIndex 005
1A16:06 SubIndex 006
1A16:07 SubIndex 007
1A16:08 SubIndex 008
1A16:09 SubIndex 009
1A16:0A 1A16:0B
SubIndex 010 SubIndex 011
1A16:0C SubIndex 012
Meaning PDO Mapping TxPDO 23
1. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6051:01, 8
RO
0x6051:09, 1
RO
0x6051:0A, 1
RO
0x0000:00, 4
RO
0x6051:0F, 2
RO
0x6051:11, 8
RO
0x6051:12, 8
RO
0x6051:21, 1
RO
0x6051:22, 1
RO
0x0000:00, 30
RO
0x6051:41, 32
RO
0x6051:42, 32
EL125x, EL2258
Version: 2.8
165
Commissioning
Index 1A17 MTI TxPDO-Map Inputs 1x Ch.6
Index (hex) Name
1A17:0
MTI TxPDO-Map Inputs 1x Ch.6
1A17:01 SubIndex 001
1A17:02 SubIndex 002
1A17:03 SubIndex 003
1A17:04 1A17:05
SubIndex 004 SubIndex 005
1A17:06 SubIndex 006
1A17:07 SubIndex 007
1A17:08 SubIndex 008
1A17:09 1A17:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 24
1. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6051 (MTI inputs Ch.6), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6051:01, 8
RO
0x6051:09, 1
RO
0x6051:0A, 1
RO
0x0000:00, 4
RO
0x6051:0F, 2
RO
0x6051:11, 8
RO
0x6051:12, 8
RO
0x6051:21, 1
RO
0x0000:00, 31
RO
0x6051:41, 32
166
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A18 MTI TxPDO-Map Inputs 10x Ch.7
Index (hex) Name
1A18:0
MTI TxPDO-Map Inputs 10x Ch.7
1A18:01 SubIndex 001
1A18:02 SubIndex 002
1A18:03 SubIndex 003
1A18:04 1A18:05
SubIndex 004 SubIndex 005
1A18:06 SubIndex 006
1A18:07 SubIndex 007
1A18:08 SubIndex 008
1A18:09 SubIndex 009
1A18:0A SubIndex 010
1A18:0B SubIndex 011
1A18:0C SubIndex 012
1A18:0D SubIndex 013
1A18:0E SubIndex 014
1A18:0F SubIndex 015
1A18:10 SubIndex 016
1A18:11 SubIndex 017
1A18:12 1A18:13
SubIndex 018 SubIndex 019
1A18:14 SubIndex 020
1A18:15 SubIndex 021
1A18:16 SubIndex 022
1A18:17 SubIndex 023
1A18:18 SubIndex 024
1A18:19 SubIndex 025
1A18:1A SubIndex 026
1A18:1B SubIndex 027
1A18:1C SubIndex 028
Meaning
PDO Mapping TxPDO 25
1. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6061:01, 8
RO
0x6061:09, 1
RO
0x6061:0A, 1
RO
0x0000:00, 4
RO
0x6061:0F, 2
RO
0x6061:11, 8
RO
0x6061:12, 8
RO
0x6061:21, 1
RO
0x6061:22, 1
RO
0x6061:23, 1
RO
0x6061:24, 1
RO
0x6061:25, 1
RO
0x6061:26, 1
RO
0x6061:27, 1
RO
0x6061:28, 1
RO
0x6061:29, 1
RO
0x6061:2A, 1
RO
0x0000:00, 22
RO
0x6061:41, 32
RO
0x6061:42, 32
RO
0x6061:43, 32
RO
0x6061:44, 32
RO
0x6061:45, 32
RO
0x6061:46, 32
RO
0x6061:47, 32
RO
0x6061:48, 32
RO
0x6061:49, 32
RO
0x6061:4A, 32
EL125x, EL2258
Version: 2.8
167
Commissioning
Index 1A19 MTI TxPDO-Map Inputs 5x Ch.7
Index (hex) Name
1A19:0
MTI TxPDO-Map Inputs 5x Ch.7
1A19:01 SubIndex 001
1A19:02 SubIndex 002
1A19:03 SubIndex 003
1A19:04 1A19:05
SubIndex 004 SubIndex 005
1A19:06 SubIndex 006
1A19:07 SubIndex 007
1A19:08 SubIndex 008
1A19:09 SubIndex 009
1A19:0A SubIndex 010
1A19:0B SubIndex 011
1A19:0C SubIndex 012
1A19:0D 1A19:0E
SubIndex 013 SubIndex 014
1A19:0F SubIndex 015
1A19:10 SubIndex 016
1A19:11 SubIndex 017
1A19:12 SubIndex 018
Meaning
PDO Mapping TxPDO 26
1. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6061:01, 8
RO
0x6061:09, 1
RO
0x6061:0A, 1
RO
0x0000:00, 4
RO
0x6061:0F, 2
RO
0x6061:11, 8
RO
0x6061:12, 8
RO
0x6061:21, 1
RO
0x6061:22, 1
RO
0x6061:23, 1
RO
0x6061:24, 1
RO
0x6061:25, 1
RO
0x0000:00, 27
RO
0x6061:41, 32
RO
0x6061:42, 32
RO
0x6061:43, 32
RO
0x6061:44, 32
RO
0x6061:45, 32
Index 1A1A MTI TxPDO-Map Inputs 2x Ch.7
Index (hex) Name
1A1A:0
MTI TxPDO-Map Inputs 2x Ch.7
1A1A:01 SubIndex 001
1A1A:02 SubIndex 002
1A1A:03 SubIndex 003
1A1A:04 1A1A:05
SubIndex 004 SubIndex 005
1A1A:06 SubIndex 006
1A1A:07 SubIndex 007
1A1A:08 SubIndex 008
1A1A:09 SubIndex 009
1A1A:0A 1A1A:0B
SubIndex 010 SubIndex 011
1A1A:0C SubIndex 012
Meaning PDO Mapping TxPDO 27
1. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6061:01, 8
RO
0x6061:09, 1
RO
0x6061:0A, 1
RO
0x0000:00, 4
RO
0x6061:0F, 2
RO
0x6061:11, 8
RO
0x6061:12, 8
RO
0x6061:21, 1
RO
0x6061:22, 1
RO
0x0000:00, 30
RO
0x6061:41, 32
RO
0x6061:42, 32
168
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A1B MTI TxPDO-Map Inputs 1x Ch.7
Index (hex) Name
1A1B:0
MTI TxPDO-Map Inputs 1x Ch.7
1A1B:01 SubIndex 001
1A1B:02 SubIndex 002
1A1B:03 SubIndex 003
1A1B:04 1A1B:05
SubIndex 004 SubIndex 005
1A1B:06 SubIndex 006
1A1B:07 SubIndex 007
1A1B:08 SubIndex 008
1A1B:09 1A1B:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 28
1. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6061 (MTI inputs Ch.7), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6061:01, 8
RO
0x6061:09, 1
RO
0x6061:0A, 1
RO
0x0000:00, 4
RO
0x6061:0F, 2
RO
0x6061:11, 8
RO
0x6061:12, 8
RO
0x6061:21, 1
RO
0x0000:00, 31
RO
0x6061:41, 32
EL125x, EL2258
Version: 2.8
169
Commissioning
Index 1A1C MTI TxPDO-Map Inputs 10x Ch.8
Index (hex) Name
1A1C:0
MTI TxPDO-Map Inputs 10x Ch.8
1A1C:01 SubIndex 001
1A1C:02 SubIndex 002
1A1C:03 SubIndex 003
1A1C:04 1A1C:05
SubIndex 004 SubIndex 005
1A1C:06 SubIndex 006
1A1C:07 SubIndex 007
1A1C:08 SubIndex 008
1A1C:09 SubIndex 009
1A1C:0A SubIndex 010
1A1C:0B SubIndex 011
1A1C:0C SubIndex 012
1A1C:0D SubIndex 013
1A1C:0E SubIndex 014
1A1C:0F SubIndex 015
1A1C:10 SubIndex 016
1A1C:11 SubIndex 017
1A1C:12 1A1C:13
SubIndex 018 SubIndex 019
1A1C:14 SubIndex 020
1A1C:15 SubIndex 021
1A1C:16 SubIndex 022
1A1C:17 SubIndex 023
1A1C:18 SubIndex 024
1A1C:19 SubIndex 025
1A1C:1A SubIndex 026
1A1C:1B SubIndex 027
1A1C:1C SubIndex 028
Meaning
PDO Mapping TxPDO 29
1. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6071:01, 8
RO
0x6071:09, 1
RO
0x6071:0A, 1
RO
0x0000:00, 4
RO
0x6071:0F, 2
RO
0x6071:11, 8
RO
0x6071:12, 8
RO
0x6071:21, 1
RO
0x6071:22, 1
RO
0x6071:23, 1
RO
0x6071:24, 1
RO
0x6071:25, 1
RO
0x6071:26, 1
RO
0x6071:27, 1
RO
0x6071:28, 1
RO
0x6071:29, 1
RO
0x6071:2A, 1
RO
0x0000:00, 22
RO
0x6071:41, 32
RO
0x6071:42, 32
RO
0x6071:43, 32
RO
0x6071:44, 32
RO
0x6071:45, 32
RO
0x6071:46, 32
RO
0x6071:47, 32
RO
0x6071:48, 32
RO
0x6071:49, 32
RO
0x6071:4A, 32
170
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A1D MTI TxPDO-Map Inputs 5x Ch.8
Index (hex) Name
1A1D:0
MTI TxPDO-Map Inputs 5x Ch.8
1A1D:01 SubIndex 001
1A1D:02 SubIndex 002
1A1D:03 SubIndex 003
1A1D:04 1A1D:05
SubIndex 004 SubIndex 005
1A1D:06 SubIndex 006
1A1D:07 SubIndex 007
1A1D:08 SubIndex 008
1A1D:09 SubIndex 009
1A1D:0A SubIndex 010
1A1D:0B SubIndex 011
1A1D:0C SubIndex 012
1A1D:0D 1A1D:0E
SubIndex 013 SubIndex 014
1A1D:0F SubIndex 015
1A1D:10 SubIndex 016
1A1D:11 SubIndex 017
1A1D:12 SubIndex 018
Meaning
PDO Mapping TxPDO 30
1. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6071:01, 8
RO
0x6071:09, 1
RO
0x6071:0A, 1
RO
0x0000:00, 4
RO
0x6071:0F, 2
RO
0x6071:11, 8
RO
0x6071:12, 8
RO
0x6071:21, 1
RO
0x6071:22, 1
RO
0x6071:23, 1
RO
0x6071:24, 1
RO
0x6071:25, 1
RO
0x0000:00, 27
RO
0x6071:41, 32
RO
0x6071:42, 32
RO
0x6071:43, 32
RO
0x6071:44, 32
RO
0x6071:45, 32
Index 1A1E MTI TxPDO-Map Inputs 2x Ch.8
Index (hex) Name
1A1E:0
MTI TxPDO-Map Inputs 2x Ch.8
1A1E:01 SubIndex 001
1A1E:02 SubIndex 002
1A1E:03 SubIndex 003
1A1E:04 1A1E:05
SubIndex 004 SubIndex 005
1A1E:06 SubIndex 006
1A1E:07 SubIndex 007
1A1E:08 SubIndex 008
1A1E:09 SubIndex 009
1A1E:0A 1A1E:0B
SubIndex 010 SubIndex 011
1A1E:0C SubIndex 012
Meaning PDO Mapping TxPDO 31
1. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6071:01, 8
RO
0x6071:09, 1
RO
0x6071:0A, 1
RO
0x0000:00, 4
RO
0x6071:0F, 2
RO
0x6071:11, 8
RO
0x6071:12, 8
RO
0x6071:21, 1
RO
0x6071:22, 1
RO
0x0000:00, 30
RO
0x6071:41, 32
RO
0x6071:42, 32
EL125x, EL2258
Version: 2.8
171
Commissioning
Index 1A1F MTI TxPDO-Map Inputs 1x Ch.8
Index (hex) Name
1A1F:0
MTI TxPDO-Map Inputs 1x Ch.8
1A1F:01 SubIndex 001
1A1F:02 SubIndex 002
1A1F:03 SubIndex 003
1A1F:04 1A1F:05
SubIndex 004 SubIndex 005
1A1F:06 SubIndex 006
1A1F:07 SubIndex 007
1A1F:08 SubIndex 008
1A1F:09 1A1F:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 32
1. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6071 (MTI inputs Ch.8), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6071:01, 8
RO
0x6071:09, 1
RO
0x6071:0A, 1
RO
0x0000:00, 4
RO
0x6071:0F, 2
RO
0x6071:11, 8
RO
0x6071:12, 8
RO
0x6071:21, 1
RO
0x0000:00, 31
RO
0x6071:41, 32
Index 1A20 TSI TxPDO-Map Inputs Ch.1
Index (hex) Name
1A20:0
TSI TxPDO-Map Inputs Ch.1
1A20:01 SubIndex 001
1A20:02 1A20:03
SubIndex 002 SubIndex 003
1A20:04 1A20:05
SubIndex 004 SubIndex 005
1A20:06 SubIndex 006
Meaning PDO Mapping TxPDO 33
1. PDO Mapping entry (object 0x6080 (TSI Inputs Ch.1), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x6080 (TSI Inputs Ch.1), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x6080 (TSI Inputs Ch.1), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x6080 (TSI Inputs Ch.1), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x6080:01, 1
RO
0x0000:00, 7
RO
0x6080:09, 8
RO
0x0000:00, 48
RO
0x6080:41, 64
RO
0x6080:42, 64
Index 1A21 TSI TxPDO-Map Inputs Ch.2
Index (hex) Name
1A21:0
TSI TxPDO-Map Inputs Ch.2
1A21:01 SubIndex 001
1A21:02 1A21:03
SubIndex 002 SubIndex 003
1A21:04 1A21:05
SubIndex 004 SubIndex 005
1A21:06 SubIndex 006
Meaning PDO Mapping TxPDO 34
1. PDO Mapping entry (object 0x6090 (TSI Inputs Ch.2), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x6090 (TSI Inputs Ch.2), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x6090 (TSI Inputs Ch.2), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x6090 (TSI Inputs Ch.2), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x6090:01, 1
RO
0x0000:00, 7
RO
0x6090:09, 8
RO
0x0000:00, 48
RO
0x6090:41, 64
RO
0x6090:42, 64
172
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A22 TSI TxPDO-Map Inputs Ch.3
Index (hex) Name
1A22:0
TSI TxPDO-Map Inputs Ch.3
1A22:01 SubIndex 001
1A22:02 1A22:03
SubIndex 002 SubIndex 003
1A22:04 1A22:05
SubIndex 004 SubIndex 005
1A22:06 SubIndex 006
Meaning PDO Mapping TxPDO 35
1. PDO Mapping entry (object 0x60A0 (TSI Inputs Ch.3), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x60A0 (TSI Inputs Ch.3), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x60A0 (TSI Inputs Ch.3), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x60A0 (TSI Inputs Ch.3), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x60A0:01, 1
RO
0x0000:00, 7
RO
0x60A0:09, 8
RO
0x0000:00, 48
RO
0x60A0:41, 64
RO
0x60A0:42, 64
Index 1A23 TSI TxPDO-Map Inputs Ch.4
Index (hex) Name
1A23:0
TSI TxPDO-Map Inputs Ch.4
1A23:01 SubIndex 001
1A23:02 1A23:03
SubIndex 002 SubIndex 003
1A23:04 1A23:05
SubIndex 004 SubIndex 005
1A23:06 SubIndex 006
Meaning PDO Mapping TxPDO 36
1. PDO Mapping entry (object 0x60B0 (TSI Inputs Ch.4), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x60B0 (TSI Inputs Ch.4), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x60B0 (TSI Inputs Ch.4), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x60B0 (TSI Inputs Ch.4), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x60B0:01, 1
RO
0x0000:00, 7
RO
0x60B0:09, 8
RO
0x0000:00, 48
RO
0x60B0:41, 64
RO
0x60B0:42, 64
Index 1A24 TSI TxPDO-Map Inputs Ch.5
Index (hex) Name
1A24:0
TSI TxPDO-Map Inputs Ch.5
1A24:01 SubIndex 001
1A24:02 1A24:03
SubIndex 002 SubIndex 003
1A24:04 1A24:05
SubIndex 004 SubIndex 005
1A24:06 SubIndex 006
Meaning PDO Mapping TxPDO 37
1. PDO Mapping entry (object 0x60C0 (TSI Inputs Ch.5), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x60C0 (TSI Inputs Ch.5), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x60C0 (TSI Inputs Ch.5), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x60C0 (TSI Inputs Ch.5), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x60C0:01, 1
RO
0x0000:00, 7
RO
0x60C0:09, 8
RO
0x0000:00, 48
RO
0x60C0:41, 64
RO
0x60C0:42, 64
Index 1A25 TSI TxPDO-Map Inputs Ch.6
Index (hex) Name
1A25:0
TSI TxPDO-Map Inputs Ch.6
1A25:01 SubIndex 001
1A25:02 1A25:03
SubIndex 002 SubIndex 003
1A25:04 1A25:05
SubIndex 004 SubIndex 005
1A25:06 SubIndex 006
Meaning PDO Mapping TxPDO 38
1. PDO Mapping entry (object 0x60D0 (TSI Inputs Ch.6), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x60D0 (TSI Inputs Ch.6), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x60D0 (TSI Inputs Ch.6), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x60D0 (TSI Inputs Ch.6), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x60D0:01, 1
RO
0x0000:00, 7
RO
0x60D0:09, 8
RO
0x0000:00, 48
RO
0x60D0:41, 64
RO
0x60D0:42, 64
EL125x, EL2258
Version: 2.8
173
Commissioning
Index 1A26 TSI TxPDO-Map Inputs Ch.7
Index (hex) Name
1A26:0
TSI TxPDO-Map Inputs Ch.7
1A26:01 SubIndex 001
1A26:02 1A26:03
SubIndex 002 SubIndex 003
1A26:04 1A26:05
SubIndex 004 SubIndex 005
1A26:06 SubIndex 006
Meaning PDO Mapping TxPDO 39
1. PDO Mapping entry (object 0x60E0 (TSI Inputs Ch.7), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x60E0 (TSI Inputs Ch.7), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x60E0 (TSI Inputs Ch.7), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x60E0 (TSI Inputs Ch.7), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x60E0:01, 1
RO
0x0000:00, 7
RO
0x60E0:09, 8
RO
0x0000:00, 48
RO
0x60E0:41, 64
RO
0x60E0:42, 64
Index 1A27 TSI TxPDO-Map Inputs Ch.8
Index (hex) Name
1A27:0
TSI TxPDO-Map Inputs Ch.8
1A27:01 SubIndex 001
1A27:02 1A27:03
SubIndex 002 SubIndex 003
1A27:04 1A27:05
SubIndex 004 SubIndex 005
1A27:06 SubIndex 006
Meaning PDO Mapping TxPDO 40
1. PDO Mapping entry (object 0x60F0 (TSI Inputs Ch.8), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x60F0 (TSI Inputs Ch.8), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x60F0 (TSI Inputs Ch.8), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x60F0 (TSI Inputs Ch.8), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x60F0:01, 1
RO
0x0000:00, 7
RO
0x60F0:09, 8
RO
0x0000:00, 48
RO
0x60F0:41, 64
RO
0x60F0:42, 64
Index 1A28 DEV TxPDO-Map Inputs Device
Index (hex) Name
1A28:0
DEV TxPDO-Map Inputs Device
1A28:01 SubIndex 001
1A28:02 SubIndex 002
1A28:03 SubIndex 003
1A28:04 SubIndex 004
1A28:05 1A28:06
SubIndex 005 SubIndex 006
Meaning PDO Mapping TxPDO 41
1. PDO Mapping entry (1 bits align) 2. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x02 (Undervoltage Up)) 3. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x03 (Overtemperature)) 4. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x04 (Checksum error)) 5. PDO Mapping entry (60 bits align) 6. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x21 (SysTime))
Data type UINT8
UINT32 UINT32
UINT32
UINT32
UINT32 UINT32
Flags RO
Default 0x06 (6dec)
RO
0x0000:00, 1
RO
0xF611:02, 1
RO
0xF611:03, 1
RO
0xF611:04, 1
RO
0x0000:00, 60
RO
0xF611:21, 64
Index 1C00Sync manager type
Index (hex) Name
1C00:0
Sync manager type
1C00:01 SubIndex 001
1C00:02 SubIndex 002
1C00:03 SubIndex 003
1C00:04 SubIndex 004
Meaning Using the sync managers Sync-Manager Type Channel 1: Mailbox Write Sync-Manager Type Channel 2: Mailbox Read Sync-Manager Type Channel 3: Process Data Write (Outputs) Sync-Manager Type Channel 4: Process Data Read (Inputs)
Data type UINT8 UINT8 UINT8 UINT8
UINT8
Flags RO RO RO RO
Default 0x04 (4dec) 0x01 (1dec) 0x02 (2dec) 0x03 (3dec)
RO
0x04 (4dec)
174
Version: 2.8
EL125x, EL2258
Commissioning
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0
RxPDO assign
1C12:01 SubIndex 001
1C12:02 SubIndex 002
1C12:03 SubIndex 003
1C12:04 SubIndex 004
1C12:05 SubIndex 005
1C12:06 SubIndex 006
1C12:07 SubIndex 007
1C12:08 SubIndex 008
Meaning
PDO Assign Outputs
1. allocated RxPDO (contains the index of the associated RxPDO mapping object)
2. allocated RxPDO (contains the index of the associated RxPDO mapping object)
3. allocated RxPDO (contains the index of the associated RxPDO mapping object)
4. allocated RxPDO (contains the index of the associated RxPDO mapping object)
5. allocated RxPDO (contains the index of the associated RxPDO mapping object)
6. allocated RxPDO (contains the index of the associated RxPDO mapping object)
7. allocated RxPDO (contains the index of the associated RxPDO mapping object)
8. allocated RxPDO (contains the index of the associated RxPDO mapping object)
Data type UINT8 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0
TxPDO assign
1C13:01 SubIndex 001
1C13:02 SubIndex 002
1C13:03 SubIndex 003
1C13:04 SubIndex 004
1C13:05 SubIndex 005
1C13:06 SubIndex 006
1C13:07 SubIndex 007
1C13:08 SubIndex 008
1C13:09 SubIndex 009
1C13:0A SubIndex 010
1C13:0B SubIndex 011
1C13:0C SubIndex 012
1C13:0D SubIndex 013
1C13:0E SubIndex 014
1C13:0F SubIndex 015
1C13:10 SubIndex 016
1C13:11 SubIndex 017
1C13:12 SubIndex 018
1C13:13 SubIndex 019
1C13:14 SubIndex 020
1C13:15 SubIndex 021
Meaning
Data type
PDO Assign Inputs
UINT8
1. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
2. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
3. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
4. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
5. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
6. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
7. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
8. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
9. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
10. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
11. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
12. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
13. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
14. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
15. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
16. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
17. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
18. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
19. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
20. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
21. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
Flags RW RW RW RW RW RW RW RW RW
Default
0x08 (8dec)
0x1600 (5632dec)
0x1601 (5633dec)
0x1602 (5634dec)
0x1603 (5635dec)
0x1604 (5636dec)
0x1605 (5637dec)
0x1606 (5638dec)
0x1607 (5639dec)
Flags RW RW RW RW RW RW RW RW RW RW
Default
0x08 (8dec)
0x1A00 (6656dec)
0x1A04 (6660dec)
0x1A08 (6664dec)
0x1A0C (6668dec)
0x1A10 (6672dec)
0x1A14 (6676dec)
0x1A18 (6680dec)
0x1A1C (6684dec)
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
EL125x, EL2258
Version: 2.8
175
Commissioning
Index 1C13 TxPDO assign
Index (hex) Name 1C13:16 SubIndex 022 1C13:17 SubIndex 023 1C13:18 SubIndex 024 1C13:19 SubIndex 025 1C13:1A SubIndex 026 1C13:1B SubIndex 027 1C13:1C SubIndex 028 1C13:1D SubIndex 029 1C13:1E SubIndex 030 1C13:1F SubIndex 031 1C13:20 SubIndex 032 1C13:21 SubIndex 033 1C13:22 SubIndex 034 1C13:23 SubIndex 035 1C13:24 SubIndex 036 1C13:25 SubIndex 037 1C13:26 SubIndex 038 1C13:27 SubIndex 039 1C13:28 SubIndex 040 1C13:29 SubIndex 041
Meaning
Data type
22. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
23. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
24. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
25. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
26. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
27. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
28. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
29. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
30. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
31. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
32. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
33. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
34. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
35. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
36. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
37. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
38. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
39. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
40. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
41. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
Flags RW
Default 0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
176
Version: 2.8
EL125x, EL2258
Commissioning
Index 1C32 SM output parameter
Index (hex) Name
Meaning
1C32:0
SM output parameter Synchronization parameters for the outputs
Data type UINT8
1C32:01 Sync mode
Current synchronization mode:
UINT16
� 0: Free Run
� 1: Synchron with SM 2 Event
� 2: DC-Mode - Synchron with SYNC0 Event
1C32:02 Cycle time
� 3: DC-Mode - Synchron with SYNC1 Event Cycle time (in ns):
UINT32
� Free Run: Cycle time of the local timer
� Synchronous with SM 2 event: Master cycle time
� DC mode: SYNC0/SYNC1 Cycle Time
1C32:03 Shift time
Time between SYNC0 event and output of the outputs UINT32 (in ns, DC mode only)
1C32:04 Sync modes supported Supported synchronization modes:
UINT16
� 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 [} 177])
1C32:05 Minimum cycle time Minimum cycle time (in ns)
UINT32
1C32:06 1C32:07
Calc and copy time Minimum delay time
Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)
UINT32 UINT32
1C32:08
1C32:09 1C32:0B 1C32:0C 1C32:0D 1C32:20
Command
� 0: Measurement of the local cycle time is stopped
UINT16
� 1: Measurement of the local cycle time is started
The entries 0x1C32:03 [} 177], 0x1C32:05 [} 177],
0x1C32:06 [} 177], 0x1C32:09 [} 177], 0x1C33:03
[} 178], 0x1C33:06 [} 177], and 0x1C33:09 [} 178] are updated with the maximum measured values. For a subsequent measurement the measured values are reset
Maximum delay time Time between SYNC1 event and output of the outputs UINT32 (in ns, DC mode only)
SM event missed counter
Number of missed SM events in OPERATIONAL (DC UINT16 mode only)
Cycle exceeded counter
Number of occasions the cycle time was exceeded in UINT16 OPERATIONAL (cycle was not completed in time or the next cycle began too early)
Shift too short counter Number of occasions that the interval between SYNC0 UINT16 and SYNC1 event was too short (DC mode only)
Sync error
The synchronization was not correct in the last cycle BOOLEAN (outputs were output too late; DC mode only)
Flags RO RW
Default 0x20 (32dec) 0x0000 (0dec)
RW
0x000C3500
(800000dec)
RO
0x00000384
(900dec)
RO
0x0804
(2052dec)
RO
0x00001F40
(8000dec)
RO
0x00000000
(0dec)
RO
0x00000384
(900dec)
RW
0x0000 (0dec)
RO
0x00000384
(900dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
EL125x, EL2258
Version: 2.8
177
Commissioning
Index 1C33 SM input parameter
Index (hex) Name
1C33:0
SM input parameter
1C33:01 Sync mode
1C33:02 Cycle time
Meaning Synchronization parameters for the inputs Current synchronization mode:
� 0: Free Run � 1: Synchronous with SM 3 event (no outputs
available) � 2: DC - Synchronous with SYNC0 Event � 3: DC - Synchronous with SYNC1 Event � 34: Synchronous with SM 2 event (outputs
available) as 0x1C32:02 [} 177]
Data type UINT8 UINT16
UINT32
1C33:03 1C33:04
1C33:05
Shift time
Time between SYNC0 event and reading of the inputs UINT32 (in ns, only DC mode)
Sync modes supported Supported synchronization modes:
UINT16
� 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 [} 177] or 0x1C33:08 [} 178])
Minimum cycle time as 0x1C32:05 [} 177]
UINT32
1C33:06 1C33:07
Calc and copy time Minimum delay time
Time between reading of the inputs and availability of the inputs for the master (in ns, only DC mode)
UINT32 UINT32
1C33:08 1C33:09
1C33:0B
1C33:0C
1C33:0D 1C33:20
Command
as 0x1C32:08 [} 177]
UINT16
Maximum delay time Time between SYNC1 event and reading of the inputs UINT32 (in ns, only DC mode)
SM event missed counter
as 0x1C32:11 [} 177]
UINT16
Cycle exceeded counter
as 0x1C32:12 [} 177]
UINT16
Shift too short counter as 0x1C32:13 [} 177]
UINT16
Sync error
as 0x1C32:32 [} 177]
BOOLEAN
Flags RO RW
Default 0x20 (32dec) 0x0000 (0dec)
RW
0x000C3500
(800000dec)
RO
0x00000384
(900dec)
RO
0x0804
(2052dec)
RO
0x00001F40
(8000dec)
RO
0x00000000
(0dec)
RO
0x00000384
(900dec)
RW
0x0000 (0dec)
RO
0x00000384
(900dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
Index F000 Modular device profile
Index (hex) Name
Meaning
Data type
F000:0
Modular device profile General information for the modular device profile
UINT8
F000:01 Module index distance Index spacing of the objects of the individual channels UINT16
F000:02
Maximum number of Number of channels modules
UINT16
Flags RO RO RO
Default 0x02 (2dec) 0x0010 (16dec) 0x0010 (16dec)
Index F008 Code word
Index (hex) Name
F008:0
Code word
Meaning reserved
Data type UINT32
Flags RW
Default
0x00000000 (0dec)
178
Version: 2.8
EL125x, EL2258
Index F010 Module list
Index (hex) Name
F010:0
Module list
F010:01 SubIndex 001
F010:02 SubIndex 002
F010:03 SubIndex 003
F010:04 SubIndex 004
F010:05 SubIndex 005
F010:06 SubIndex 006
F010:07 SubIndex 007
F010:08 SubIndex 008
F010:09 SubIndex 009
F010:0A SubIndex 010
F010:0B SubIndex 011
F010:0C SubIndex 012
F010:0D SubIndex 013
F010:0E SubIndex 014
F010:0F SubIndex 015
F010:10 SubIndex 016
Meaning MDP Profile
6.9.2 EL1259
Commissioning
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW
Default
0x10 (16dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
6.9.2.1 Object description and parameterization
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.
Parameterization via the CoE list (CAN over EtherCAT)
The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (allocation of PDOs). Please note the following general CoE information when using/manipulating the CoE parameters [} 30]: - Keep a startup list if components have to be replaced - Differentiation between online/offline dictionary, existence of current XML description - Use "CoE reload" for resetting changes
EL125x, EL2258
Version: 2.8
179
Commissioning
6.9.2.1.1 Restore object
Index 1011 Restore default parameters
Index (hex) Name
Meaning
Data type
1011:0
Restore default param- Restore default parameters eters
UINT8
1011:01
SubIndex 001
If this object is set to "0x64616F6C" in the set value di- UINT32 alog, all backup objects are reset to their delivery state.
Flags RO
Default 0x01 (1dec)
RW
0x00000000
(0dec)
6.9.2.1.2 Configuration data
Index 8pp1 MTO Settings (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
Meaning
Data type
8pp1:0 8pp1:01
MTO Settings
Use as +24 V power supply
UINT8
Activates the output permanently. The channel cannot be used for processing of timestamp events. The output is deactivated as soon as the EtherCAT status is not OP.
BOOLEAN
8pp1:02
Enable manual opera- Via this object the output can be switched manually
tion
[} 132].
BOOLEAN
8pp1:03
Enable time check
This bit can be used to determine how to handle switching orders that were placed before the current time (further explanation see here) [} 132].
BOOLEAN
8pp1:11
Buffer reset behavior Specifies the behavior of the "Output buffer reset" bit UINT16
Permitted values:
0 Reset on rising edge: The buffer is cleared with a rising edge of "Output buffer reset"
1 Reset on high level: The buffer is cleared with a rising edge of "Output buffer reset" and does not accept new values until "Output buffer reset" is reset.
8pp1:12
Buffer overflow behav- Specifies the behavior in the event of buffer overflow
ior
Permitted values:
0 Lock buffer: New events are discarded
UINT16
1 Overwrite oldest value: New events overwrite the last events in the buffer
Flags RO RW
Default 0x12 (18dec) 0x00 (0dec)
RW
0x00 (0dec)
RW
0x00 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
Index 8ppF MTO Vendor data (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
8ppF:0
MTO Vendor data
8ppF:11 Offset pos
8ppF:12 Offset neg
Meaning
Data type
UINT8
This object can be used to move the output time of the INT32 rising edges. This setting is left to the manufacturer.
This object can be used to move the output time of the INT32 falling edges. This setting is left to the manufacturer.
Flags RO RW
RW
Default
0x12 (18dec) 0x00000000 (0dec) 0x00000000 (0dec)
180
Version: 2.8
EL125x, EL2258
Commissioning
Index 8pp0 MTI settings (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
8pp0:0
MTI settings
Meaning
Data type UINT8
8pp0:01
Enable digital filter
Activation of the filter to hide spikes. The filter length BOOLEAN should be entered in 8pp0:14 "DigitalFilterCount" (further explanation see here [} 130]).
8pp0:11
Buffer reset behavior Specifies the behavior of the "Input buffer reset" bit UINT16
Permitted values:
0 Reset on rising edge: The buffer is cleared with a rising edge of "Input buffer reset"
1 Reset on high level: The buffer is cleared with a rising edge of "Input buffer reset" and does not accept new values until "Input buffer reset" is reset.
8pp0:12
Buffer mode
Specifies whether handshaking is to be used for re- UINT16 trieving the values from the buffer (transmission integrity) or whether new values are to be transferred directly with each PLC cycle (faster).
Permitted values (further explanation see here) [} 128]:
0 Asynchronous (Buffered): The arrival of new events must be acknowledged by the PLC. To this end the byte "No of input events" must be monitored in the PLC program. If it is greater than zero the pending events can be taken over from the process image. Subsequently the byte "Input order counter" must be incremented. This signals the terminal that the events were accepted and new data can be created in the next cycle.
1 Synchronous: New events are automatically transferred with each PLC cycle
8pp0:13
Buffer overflow behav- Specifies the behavior in the event of buffer overflow
ior
Permitted values:
0 Lock buffer: New events are discarded
UINT16
1 Overwrite oldest event: New events overwrite the last events in the buffer
8pp0:14
Digital filter count
Defines the number of event samples to ensure trans- UINT16 fer into the buffer (further explanation see here) [} 130].
Flags RO RW
Default 0x14 (20dec) 0x00 (0dec)
RW
0x0000 (0dec)
RW
0x0001 (1dec)
RW
0x0000 (0dec)
RW
0x0001 (1dec)
Index 8ppF MTI Vendor data (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
8ppF:0
MTI Vendor data
8ppF:11 Offset pos
8ppF:12 Offset neg
Meaning
This object can be used to move the input time of the rising edges. This setting is left to the manufacturer. This object can be used to move the input time of the falling edges. This setting is left to the manufacturer.
Data type UINT8 INT32
INT32
Index 8ppF TSO Vendor data (for 10 pp 17; Ch. 1 to Ch. 8)
Index (hex) Name
8ppF:0
TSO Vendor data
8ppF:11 Offset pos
8ppF:12 Offset neg
Meaning
Data type
UINT8
This object can be used to move the output time of the INT32 rising edges. This setting is left to the manufacturer.
This object can be used to move the output time of the INT32 falling edges. This setting is left to the manufacturer.
Flags RO RW
RW
Default
0x12 (18dec) 0x00000000 (0dec) 0x00000000 (0dec)
Flags RO RW
RW
Default
0x12 (18dec) 0x00000000 (0dec) 0x00000000 (0dec)
EL125x, EL2258
Version: 2.8
181
Commissioning
Index 8pp0 TSI Settings (for 18 pp 1F; Ch. 1 to Ch. 8)
Index (hex) Name
8pp0:0
TSI Settings
8pp0:01
Pos Sample Mode
8pp0:02
Neg Sample Mode
Meaning
During each PLC cycle only one rising edge may be detected at the terminal input. If several edges arrive during a cycle, this bit can be used to decide which edge should be shown in the process image.
Permitted values: 0 Last edge: The last edge of the preceding PLC
cycle is shown 1 First edge: The first edge of the preceding PLC
cycle is shown During each PLC cycle only one falling edge may be detected at the terminal input. If several edges arrive during a cycle, this bit can be used to decide which edge should be shown in the process image.
Permitted values: 0 Last edge: The last edge of the preceding PLC
cycle is shown 1 First edge: The first edge of the preceding PLC
cycle is shown
Data type UINT8 BIT1
BIT1
Flags RO RW
Default 0x02 (2dec) 0x00 (0dec)
RW
0x00 (0dec)
Index 8ppF TSI Vendor data (for 18 pp 1F; Ch. 1 to Ch. 8)
Index (hex) Name
8ppF:0
TSI Vendor data
8ppF:11 Offset pos
8ppF:12 Offset neg
Meaning
This object can be used to move the input time of the rising edges. This setting is left to the manufacturer. This object can be used to move the input time of the falling edges. This setting is left to the manufacturer.
Data type UINT8 INT32
INT32
Flags RO RW
RW
Default
0x12 (18dec) 0x00000000 (0dec) 0x00000000 (0dec)
6.9.2.1.3 Input data
Index 6pp0 MTO inputs (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
Meaning
Data type
6pp0:0
MTO inputs
UINT8
6pp0:01
Output short circuit The channel signals a short circuit
BOOLEAN
6pp0:02
Output buffer overflow More events were written to the buffer than it can hold BOOLEAN
6pp0:03
Output state
Current output state at the time of the process data cy- BOOLEAN cle
6pp0:0F
Input cycle counter
Is incremented with each process data cycle and switches to 0 after its maximum value of 3.
BIT2
6pp0:11
Output order feedback This byte reflects the state of the "Output order counter" byte.
UINT8
6pp0:12
Events in output buffer Returns the number of switching orders currently still in UINT8 the buffer
Flags RO RO RO RO
Default 0x00 (0dec) 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
182
Version: 2.8
EL125x, EL2258
Commissioning
Index 6pp1 MTI inputs (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
6pp1:0
MTI inputs
6pp1:01
No of input events
6pp1:09 6pp1:0A 6pp1:0F 6pp1:11 6pp1:12
6pp1:21 6pp1:2A 6pp1:41 6pp1:4A
Input state Input buffer overflow Input cycle counter Events in input buffer Input order feedback
Input event state 1 Input event state 10 Input event time 1 Input event time 10
Meaning
Data type
UINT8
Signals the number of new timestamps available in the UINT8 process image. If three is returned, for example, only the objects "Input event state 1...3" and "Input event time 1...3" are valid.
Indicates the current input state at the time of the process data cycle.
BOOLEAN
More events occurred at the input than elements were BOOLEAN free in the buffer for the channel.
Is incremented with each process data cycle and switches to 0 after its maximum value of 3.
BIT2
Signals the number of events currently in the buffer. UINT8
This byte reflects the state of the "Input order counter" UINT8 byte (further explanation see here) [} 128].
Indicates whether the event was a rising (1) or a falling BOOLEAN (0) edge.
BOOLEAN
32-bit timestamp for the corresponding "Input event state n"
UINT32
UINT32
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
Index 6pp0 TSO Inputs (for 10 pp 17; Ch. 1 to Ch. 8)
Index (hex) Name
6pp0:0
TSO Inputs
6pp0:01
Feedback
Meaning Indicates the current output state
Data type UINT8 BOOLEAN
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
Index 6pp0 TSI Inputs (for 18 pp 1F; Ch. 1 to Ch. 8)
Index (hex) Name
6pp0:0
TSI Inputs
6pp0:01
Input
6pp0:09
Status
6pp0:41 6pp0:42
LatchPos LatchNeg
Meaning
Data type
UINT8
Current input status
BOOLEAN
Bit 0: Is set for one cycle if a rising edge was detected. UINT8 Bit 1: Is set for one cycle if a falling edge was detected.
Timestamp of the rising edge
UINT64
Timestamp of the falling edge
UINT64
Flags RO RO RO
Default 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
RO RO
Index F611 DEV Inputs
Index (hex) Name
F611:0
DEV Inputs
F611:02 Undervoltage Up
F611:03 Overtemperature
F611:04 F611:21
Checksum error SysTime
Meaning
Data type
UINT8
The nominal voltage at the power contacts was signifi- BOOLEAN cantly below the minimum value.
Overtemperature fault: The temperature of the input or BOOLEAN output blocks is too high. For output terminals check whether one of the channels is affected by a short circuit.
An error occurred in the internal data transfer
BOOLEAN
DC timestamp of the last input mapping. This timestamp should not be used as reference (information on DC reference times). [} 139]
UINT64
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
EL125x, EL2258
Version: 2.8
183
Commissioning
6.9.2.1.4 Output data
Index 7pp1 MTO outputs (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
7pp1:0
MTO outputs
7pp1:01
Output buffer reset
7pp1:02
Manual output state
Meaning
Data type
UINT8
Removes all elements from the buffer
BOOLEAN
Clearing can be achieved through a rising edge or con-
tinuously by applying 1 at this bit. The behavior can be
parameterized via CoE object 0x8pp1:11 [} 180].
This bit can be used to switch the output without using BOOLEAN timestamps.
� Method 1: The CoE object 0x8pp1:02 [} 180] ("Enable manual operation") is set to TRUE. Timestamp mode is now switched off, and the output can only be switched via the bit "Manual operation state". This is particularly helpful for the commissioning phase.
7pp1:03 7pp1:04 7pp1:09 7pp1:11 7pp1:21 7pp1:2A 7pp1:41 7pp1:4A
� Method 2: Via the bit "Enable manual operation" (0x7pp1:04) the channel output can be forced to the value of this object. Timestamp processing continues in the background. Output is only reactivated if the bit "Enable manual operation" is set to 0 again.
Force order
This bit defines how to deal with timestamps that were BOOLEAN placed in the past (see diagram) [} 132].
Enable manual opera- See "Manual output state" (0x7pp1:02) [} 184]. tion
BOOLEAN
Output order counter Incrementing this byte indicates to the channel that new output events can be accepted
UINT8
No of output events Number of filled "Output event state" and "Output event time" objects
UINT8
Output event state 1 This bit is used to specify which state the output should BOOLEAN assume at the time of "Output event time 1"
Output event state 10
BOOLEAN
Output event time 1 Time at which the state described in "Output event state 1" is to be applied
UINT32
Output event time 10
UINT32
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
Index 7pp0 MTI outputs (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
7pp0:0
MTI outputs
7pp0:01
Input buffer reset
7pp0:11
Input order counter
Meaning
Data type
UINT8
Removes all elements from the buffer
BOOLEAN
Clearing can be achieved through a rising edge or con-
tinuously by applying 1 at this bit. The behavior can be
parameterized via the CoE object 0x8pp0:11 [} 181]
("Buffer reset behavior").
This bit indicates to the terminal that the input events were accepted from the process image and the terminal can copy a new set of input events from the buffer
into the process image during the next cycle (see buffer mode). [} 128]
UINT8
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
Index 7pp0 TSO Outputs (for 10 pp 17; Ch. 1 to Ch. 8)
Index (hex) Name
7pp0:0
TSO Outputs
7pp0:01
Output
7pp0:11
Activate
7pp0:41
StartTime
Meaning
Defines whether a rising (1) or falling (0) edge should be output at the "StartTime" A change from 0 to 3 in this byte triggers acceptance of the order with the current StartTime 64 Bit TimeSTamp
Data type UINT8 BOOLEAN
UINT8
UINT64
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
184
Version: 2.8
EL125x, EL2258
Commissioning
6.9.2.1.5 Diagnostic data
Index App0 MTO Diag data (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
App0:0
MTO Diag data
App0:01 Short circuit
App0:02 Undervoltage
Meaning
The channel signals a short circuit The voltage at the power contacts is outside the valid range.
Data type UINT8 BOOLEAN BOOLEAN
Flags RO RO RO
Default 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
Index App0 MTI Diag data (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
App0:0
MTI Diag data
App0:01 Overtemperature
App0:02 Undervoltage
Meaning
The internal terminal temperature is above the valid range. For terminals with output channels check the outputs for short circuit. The voltage at the power contacts is outside the valid range.
Data type UINT8 BOOLEAN
BOOLEAN
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
Index A001 MTO common Diag data
Index (hex) Name
A001:0
MTO common Diag data
A001:11
Checksum error counter
Meaning An error occurred in the internal data transfer
Data type UINT8
UINT16
Flags RO
Default 0x00 (0dec)
RO
0x0000 (0dec)
Index A081 MTI common Diag data
Index (hex) Name
A081:0
MTI common Diag data
A081:11
Checksum error counter
Meaning An error occurred in the internal data transfer
Data type UINT8
UINT16
Flags RO
Default 0x00 (0dec)
RO
0x0000 (0dec)
Index A100 TSO common Diag data
Index (hex) Name
A100:0
TSO common Diag data
A100:11
Checksum error counter
Meaning An error occurred in the internal data transfer
Data type UINT8
UINT16
Flags RO
Default 0x00 (0dec)
RO
0x0000 (0dec)
Index A180 TSI common Diag data
Index (hex) Name
Meaning
A180:0
TSI common Diag data
A180:11
Checksum error counter
An error occurred in the internal data transfer
Data type UINT8 UINT16
Flags RO RO
Default 0x00 (0dec) 0x0000 (0dec)
6.9.2.1.6 Information data
Index F900 DEV Info data
Index (hex) Name
F900:0
DEV Info data
F900:08 Cycle Time
F900:09 Sample time
Meaning
Indicates the smallest possible cycle time [} 122] that can be set [ns]. Indicates the sampling time [} 122] of the inputs and outputs [ns].
Data type UINT8 UINT32
UINT32
Flags RO RO
RO
Default
0x00 (0dec) 0x00000000 (0dec)
0x00000000 (0dec)
EL125x, EL2258
Version: 2.8
185
Commissioning
6.9.2.1.7 Command object
Index FB00 Command
The command object was implemented for future use. Currently no commands are supported.
Index (hex) Name
FB00:0
Command
FB00:01 Request
FB00:02 FB00:03
Status Response
Meaning
Data type
UINT8
Commands can be sent to the terminal via the request OCTET-
object.
STRING[2]
Status of the command currently being executed
UINT8
Optional response value of the command
OCTETSTRING[6]
Flags RO RW
Default 0x00 (0dec) {0}
RO
0x00 (0dec)
RO
{0}
6.9.2.2 Object description - standard objects
Index 1000 Device type
Index (hex) Name
1000:0
Device type
Meaning
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.
Data type UINT32
Flags RO
Default
0x00001389 (5001dec)
Index 1008 Device name
Index (hex) Name
1008:0
Device name
Meaning Device name of the EtherCAT slave
Data type STRING
Flags Default
RO
EL1259
Index 1009 Hardware version
Index (hex) Name
1009:0
Hardware version
Meaning Hardware version of the EtherCAT slave
Data type STRING
Flags Default RO
Index 100A Software version
Index (hex) Name
100A:0
Software version
Meaning Firmware version of the EtherCAT slave
Data type STRING
Flags Default
RO
01
Index 1018 Identity
Index (hex) Name
1018:0
Identity
1018:01
Vendor ID
1018:02
Product code
1018:03
Revision
1018:04
Serial number
Meaning Information for identifying the slave Vendor ID of the EtherCAT slave
Data type UINT8 UINT32
Product code of the EtherCAT slave
UINT32
Revision number of the EtherCAT slave; the low word UINT32 (bit 0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description
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
Flags RO RO
RO
RO
Default
0x04 (4dec)
0x00000002 (2dec)
0x04EB3052 (82522194dec)
0x00000000 (0dec)
RO
0x00000000
(0dec)
Index 10F0 Backup parameter handling
Index (hex) Name
10F0:0
Backup parameter handling
10F0:01 Checksum
Meaning
Information for standardized loading and saving of backup entries
Checksum across all backup entries of the EtherCAT slave
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x00000000
(0dec)
186
Version: 2.8
EL125x, EL2258
Commissioning
Index 1600 MTO RxPDO-Map Outputs 10x Ch.1
Index (hex) Name
1600:0
MTO RxPDO-Map Outputs 10x Ch.1
1600:01
SubIndex 001
1600:02
SubIndex 002
1600:03
SubIndex 003
1600:04
SubIndex 004
1600:05 1600:06
SubIndex 005 SubIndex 006
1600:07
SubIndex 007
1600:08 1600:09
SubIndex 008 SubIndex 009
1600:0A SubIndex 010
1600:0B SubIndex 011
1600:0C SubIndex 012
1600:0D SubIndex 013
1600:0E SubIndex 014
1600:0F SubIndex 015
1600:10
SubIndex 016
1600:11
SubIndex 017
1600:12
SubIndex 018
1600:13 1600:14
SubIndex 019 SubIndex 020
1600:15
SubIndex 021
1600:16
SubIndex 022
1600:17
SubIndex 023
1600:18
SubIndex 024
1600:19
SubIndex 025
1600:1A SubIndex 026
1600:1B SubIndex 027
1600:1C SubIndex 028
1600:1D SubIndex 029
Meaning PDO Mapping RxPDO 1
Data type UINT8
1. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7001:01, 1
RO
0x7001:02, 1
RO
0x7001:03, 1
RO
0x7001:04, 1
RO
0x0000:00, 4
RO
0x7001:09, 8
RO
0x7001:11, 8
RO
0x0000:00, 8
RO
0x7001:21, 1
RO
0x7001:22, 1
RO
0x7001:23, 1
RO
0x7001:24, 1
RO
0x7001:25, 1
RO
0x7001:26, 1
RO
0x7001:27, 1
RO
0x7001:28, 1
RO
0x7001:29, 1
RO
0x7001:2A, 1
RO
0x0000:00, 22
RO
0x7001:41, 32
RO
0x7001:42, 32
RO
0x7001:43, 32
RO
0x7001:44, 32
RO
0x7001:45, 32
RO
0x7001:46, 32
RO
0x7001:47, 32
RO
0x7001:48, 32
RO
0x7001:49, 32
RO
0x7001:4A, 32
EL125x, EL2258
Version: 2.8
187
Commissioning
Index 1601 MTO RxPDO-Map Outputs 5x Ch.1
Index (hex) Name
1601:0
MTO RxPDO-Map Outputs 5x Ch.1
1601:01
SubIndex 001
1601:02
SubIndex 002
1601:03
SubIndex 003
1601:04
SubIndex 004
1601:05 1601:06
SubIndex 005 SubIndex 006
1601:07
SubIndex 007
1601:08 1601:09
SubIndex 008 SubIndex 009
1601:0A SubIndex 010
1601:0B SubIndex 011
1601:0C SubIndex 012
1601:0D SubIndex 013
1601:0E 1601:0F
SubIndex 014 SubIndex 015
1601:10
SubIndex 016
1601:11
SubIndex 017
1601:12
SubIndex 018
1601:13
SubIndex 019
Meaning PDO Mapping RxPDO 2
Data type UINT8
1. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7001:01, 1
RO
0x7001:02, 1
RO
0x7001:03, 1
RO
0x7001:04, 1
RO
0x0000:00, 4
RO
0x7001:09, 8
RO
0x7001:11, 8
RO
0x0000:00, 8
RO
0x7001:21, 1
RO
0x7001:22, 1
RO
0x7001:23, 1
RO
0x7001:24, 1
RO
0x7001:25, 1
RO
0x0000:00, 27
RO
0x7001:41, 32
RO
0x7001:42, 32
RO
0x7001:43, 32
RO
0x7001:44, 32
RO
0x7001:45, 32
188
Version: 2.8
EL125x, EL2258
Commissioning
Index 1602 MTO RxPDO-Map Outputs 2x Ch.1
Index (hex) Name
1602:0
MTO RxPDO-Map Outputs 2x Ch.1
1602:01
SubIndex 001
1602:02
SubIndex 002
1602:03
SubIndex 003
1602:04
SubIndex 004
1602:05 1602:06
SubIndex 005 SubIndex 006
1602:07
SubIndex 007
1602:08 1602:09
SubIndex 008 SubIndex 009
1602:0A SubIndex 010
1602:0B 1602:0C
SubIndex 011 SubIndex 012
1602:0D SubIndex 013
Meaning PDO Mapping RxPDO 3
Data type UINT8
1. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7001:01, 1
RO
0x7001:02, 1
RO
0x7001:03, 1
RO
0x7001:04, 1
RO
0x0000:00, 4
RO
0x7001:09, 8
RO
0x7001:11, 8
RO
0x0000:00, 8
RO
0x7001:21, 1
RO
0x7001:22, 1
RO
0x0000:00, 30
RO
0x7001:41, 32
RO
0x7001:42, 32
Index 1603 MTO RxPDO-Map Outputs 1x Ch.1
Index (hex) Name
1603:0
MTO RxPDO-Map Outputs 1x Ch.1
1603:01
SubIndex 001
1603:02
SubIndex 002
1603:03
SubIndex 003
1603:04
SubIndex 004
1603:05 1603:06
SubIndex 005 SubIndex 006
1603:07
SubIndex 007
1603:08 1603:09
SubIndex 008 SubIndex 009
1603:0A 1603:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 4
Data type UINT8
1. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7001:01, 1
RO
0x7001:02, 1
RO
0x7001:03, 1
RO
0x7001:04, 1
RO
0x0000:00, 4
RO
0x7001:09, 8
RO
0x7001:11, 8
RO
0x0000:00, 8
RO
0x7001:21, 1
RO
0x0000:00, 31
RO
0x7001:41, 32
EL125x, EL2258
Version: 2.8
189
Commissioning
Index 1604 MTO RxPDO-Map Outputs 10x Ch.2
Index (hex) Name
1604:0
MTO RxPDO-Map Outputs 10x Ch.2
1604:01
SubIndex 001
1604:02
SubIndex 002
1604:03
SubIndex 003
1604:04
SubIndex 004
1604:05 1604:06
SubIndex 005 SubIndex 006
1604:07
SubIndex 007
1604:08 1604:09
SubIndex 008 SubIndex 009
1604:0A SubIndex 010
1604:0B SubIndex 011
1604:0C SubIndex 012
1604:0D SubIndex 013
1604:0E SubIndex 014
1604:0F SubIndex 015
1604:10
SubIndex 016
1604:11
SubIndex 017
1604:12
SubIndex 018
1604:13 1604:14
SubIndex 019 SubIndex 020
1604:15
SubIndex 021
1604:16
SubIndex 022
1604:17
SubIndex 023
1604:18
SubIndex 024
1604:19
SubIndex 025
1604:1A SubIndex 026
1604:1B SubIndex 027
1604:1C SubIndex 028
1604:1D SubIndex 029
Meaning PDO Mapping RxPDO 5
Data type UINT8
1. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7011:01, 1
RO
0x7011:02, 1
RO
0x7011:03, 1
RO
0x7011:04, 1
RO
0x0000:00, 4
RO
0x7011:09, 8
RO
0x7011:11, 8
RO
0x0000:00, 8
RO
0x7011:21, 1
RO
0x7011:22, 1
RO
0x7011:23, 1
RO
0x7011:24, 1
RO
0x7011:25, 1
RO
0x7011:26, 1
RO
0x7011:27, 1
RO
0x7011:28, 1
RO
0x7011:29, 1
RO
0x7011:2A, 1
RO
0x0000:00, 22
RO
0x7011:41, 32
RO
0x7011:42, 32
RO
0x7011:43, 32
RO
0x7011:44, 32
RO
0x7011:45, 32
RO
0x7011:46, 32
RO
0x7011:47, 32
RO
0x7011:48, 32
RO
0x7011:49, 32
RO
0x7011:4A, 32
190
Version: 2.8
EL125x, EL2258
Commissioning
Index 1605 MTO RxPDO-Map Outputs 5x Ch.2
Index (hex) Name
1605:0
MTO RxPDO-Map Outputs 5x Ch.2
1605:01
SubIndex 001
1605:02
SubIndex 002
1605:03
SubIndex 003
1605:04
SubIndex 004
1605:05 1605:06
SubIndex 005 SubIndex 006
1605:07
SubIndex 007
1605:08 1605:09
SubIndex 008 SubIndex 009
1605:0A SubIndex 010
1605:0B SubIndex 011
1605:0C SubIndex 012
1605:0D SubIndex 013
1605:0E 1605:0F
SubIndex 014 SubIndex 015
1605:10
SubIndex 016
1605:11
SubIndex 017
1605:12
SubIndex 018
1605:13
SubIndex 019
Meaning PDO Mapping RxPDO 6
Data type UINT8
1. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7011:01, 1
RO
0x7011:02, 1
RO
0x7011:03, 1
RO
0x7011:04, 1
RO
0x0000:00, 4
RO
0x7011:09, 8
RO
0x7011:11, 8
RO
0x0000:00, 8
RO
0x7011:21, 1
RO
0x7011:22, 1
RO
0x7011:23, 1
RO
0x7011:24, 1
RO
0x7011:25, 1
RO
0x0000:00, 27
RO
0x7011:41, 32
RO
0x7011:42, 32
RO
0x7011:43, 32
RO
0x7011:44, 32
RO
0x7011:45, 32
EL125x, EL2258
Version: 2.8
191
Commissioning
Index 1606 MTO RxPDO-Map Outputs 2x Ch.2
Index (hex) Name
1606:0
MTO RxPDO-Map Outputs 2x Ch.2
1606:01
SubIndex 001
1606:02
SubIndex 002
1606:03
SubIndex 003
1606:04
SubIndex 004
1606:05 1606:06
SubIndex 005 SubIndex 006
1606:07
SubIndex 007
1606:08 1606:09
SubIndex 008 SubIndex 009
1606:0A SubIndex 010
1606:0B 1606:0C
SubIndex 011 SubIndex 012
1606:0D SubIndex 013
Meaning PDO Mapping RxPDO 7
Data type UINT8
1. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7011:01, 1
RO
0x7011:02, 1
RO
0x7011:03, 1
RO
0x7011:04, 1
RO
0x0000:00, 4
RO
0x7011:09, 8
RO
0x7011:11, 8
RO
0x0000:00, 8
RO
0x7011:21, 1
RO
0x7011:22, 1
RO
0x0000:00, 30
RO
0x7011:41, 32
RO
0x7011:42, 32
Index 1607 MTO RxPDO-Map Outputs 1x Ch.2
Index (hex) Name
1607:0
MTO RxPDO-Map Outputs 1x Ch.2
1607:01
SubIndex 001
1607:02
SubIndex 002
1607:03
SubIndex 003
1607:04
SubIndex 004
1607:05 1607:06
SubIndex 005 SubIndex 006
1607:07
SubIndex 007
1607:08 1607:09
SubIndex 008 SubIndex 009
1607:0A 1607:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 8
Data type UINT8
1. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7011:01, 1
RO
0x7011:02, 1
RO
0x7011:03, 1
RO
0x7011:04, 1
RO
0x0000:00, 4
RO
0x7011:09, 8
RO
0x7011:11, 8
RO
0x0000:00, 8
RO
0x7011:21, 1
RO
0x0000:00, 31
RO
0x7011:41, 32
192
Version: 2.8
EL125x, EL2258
Commissioning
Index 1608 MTO RxPDO-Map Outputs 10x Ch.3
Index (hex) Name
1608:0
MTO RxPDO-Map Outputs 10x Ch.3
1608:01
SubIndex 001
1608:02
SubIndex 002
1608:03
SubIndex 003
1608:04
SubIndex 004
1608:05 1608:06
SubIndex 005 SubIndex 006
1608:07
SubIndex 007
1608:08 1608:09
SubIndex 008 SubIndex 009
1608:0A SubIndex 010
1608:0B SubIndex 011
1608:0C SubIndex 012
1608:0D SubIndex 013
1608:0E SubIndex 014
1608:0F SubIndex 015
1608:10
SubIndex 016
1608:11
SubIndex 017
1608:12
SubIndex 018
1608:13 1608:14
SubIndex 019 SubIndex 020
1608:15
SubIndex 021
1608:16
SubIndex 022
1608:17
SubIndex 023
1608:18
SubIndex 024
1608:19
SubIndex 025
1608:1A SubIndex 026
1608:1B SubIndex 027
1608:1C SubIndex 028
1608:1D SubIndex 029
Meaning PDO Mapping RxPDO 9
Data type UINT8
1. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7021:01, 1
RO
0x7021:02, 1
RO
0x7021:03, 1
RO
0x7021:04, 1
RO
0x0000:00, 4
RO
0x7021:09, 8
RO
0x7021:11, 8
RO
0x0000:00, 8
RO
0x7021:21, 1
RO
0x7021:22, 1
RO
0x7021:23, 1
RO
0x7021:24, 1
RO
0x7021:25, 1
RO
0x7021:26, 1
RO
0x7021:27, 1
RO
0x7021:28, 1
RO
0x7021:29, 1
RO
0x7021:2A, 1
RO
0x0000:00, 22
RO
0x7021:41, 32
RO
0x7021:42, 32
RO
0x7021:43, 32
RO
0x7021:44, 32
RO
0x7021:45, 32
RO
0x7021:46, 32
RO
0x7021:47, 32
RO
0x7021:48, 32
RO
0x7021:49, 32
RO
0x7021:4A, 32
EL125x, EL2258
Version: 2.8
193
Commissioning
Index 1609 MTO RxPDO-Map Outputs 5x Ch.3
Index (hex) Name
1609:0
MTO RxPDO-Map Outputs 5x Ch.3
1609:01
SubIndex 001
1609:02
SubIndex 002
1609:03
SubIndex 003
1609:04
SubIndex 004
1609:05 1609:06
SubIndex 005 SubIndex 006
1609:07
SubIndex 007
1609:08 1609:09
SubIndex 008 SubIndex 009
1609:0A SubIndex 010
1609:0B SubIndex 011
1609:0C SubIndex 012
1609:0D SubIndex 013
1609:0E 1609:0F
SubIndex 014 SubIndex 015
1609:10
SubIndex 016
1609:11
SubIndex 017
1609:12
SubIndex 018
1609:13
SubIndex 019
Meaning PDO Mapping RxPDO 10
Data type UINT8
1. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7021:01, 1
RO
0x7021:02, 1
RO
0x7021:03, 1
RO
0x7021:04, 1
RO
0x0000:00, 4
RO
0x7021:09, 8
RO
0x7021:11, 8
RO
0x0000:00, 8
RO
0x7021:21, 1
RO
0x7021:22, 1
RO
0x7021:23, 1
RO
0x7021:24, 1
RO
0x7021:25, 1
RO
0x0000:00, 27
RO
0x7021:41, 32
RO
0x7021:42, 32
RO
0x7021:43, 32
RO
0x7021:44, 32
RO
0x7021:45, 32
194
Version: 2.8
EL125x, EL2258
Commissioning
Index 160A MTO RxPDO-Map Outputs 2x Ch.3
Index (hex) Name
160A:0
MTO RxPDO-Map Outputs 2x Ch.3
160A:01 SubIndex 001
160A:02 SubIndex 002
160A:03 SubIndex 003
160A:04 SubIndex 004
160A:05 160A:06
SubIndex 005 SubIndex 006
160A:07 SubIndex 007
160A:08 160A:09
SubIndex 008 SubIndex 009
160A:0A SubIndex 010
160A:0B 160A:0C
SubIndex 011 SubIndex 012
160A:0D SubIndex 013
Meaning PDO Mapping RxPDO 11
Data type UINT8
1. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7021:01, 1
RO
0x7021:02, 1
RO
0x7021:03, 1
RO
0x7021:04, 1
RO
0x0000:00, 4
RO
0x7021:09, 8
RO
0x7021:11, 8
RO
0x0000:00, 8
RO
0x7021:21, 1
RO
0x7021:22, 1
RO
0x0000:00, 30
RO
0x7021:41, 32
RO
0x7021:42, 32
Index 160B MTO RxPDO-Map Outputs 1x Ch.3
Index (hex) Name
160B:0
MTO RxPDO-Map Outputs 1x Ch.3
160B:01 SubIndex 001
160B:02 SubIndex 002
160B:03 SubIndex 003
160B:04 SubIndex 004
160B:05 160B:06
SubIndex 005 SubIndex 006
160B:07 SubIndex 007
160B:08 160B:09
SubIndex 008 SubIndex 009
160B:0A 160B:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 12
Data type UINT8
1. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7021:01, 1
RO
0x7021:02, 1
RO
0x7021:03, 1
RO
0x7021:04, 1
RO
0x0000:00, 4
RO
0x7021:09, 8
RO
0x7021:11, 8
RO
0x0000:00, 8
RO
0x7021:21, 1
RO
0x0000:00, 31
RO
0x7021:41, 32
EL125x, EL2258
Version: 2.8
195
Commissioning
Index 160C MTO RxPDO-Map Outputs 10x Ch.4
Index (hex) Name
160C:0
MTO RxPDO-Map Outputs 10x Ch.4
160C:01 SubIndex 001
160C:02 SubIndex 002
160C:03 SubIndex 003
160C:04 SubIndex 004
160C:05 160C:06
SubIndex 005 SubIndex 006
160C:07 SubIndex 007
160C:08 160C:09
SubIndex 008 SubIndex 009
160C:0A SubIndex 010
160C:0B SubIndex 011
160C:0C SubIndex 012
160C:0D SubIndex 013
160C:0E SubIndex 014
160C:0F SubIndex 015
160C:10 SubIndex 016
160C:11 SubIndex 017
160C:12 SubIndex 018
160C:13 160C:14
SubIndex 019 SubIndex 020
160C:15 SubIndex 021
160C:16 SubIndex 022
160C:17 SubIndex 023
160C:18 SubIndex 024
160C:19 SubIndex 025
160C:1A SubIndex 026
160C:1B SubIndex 027
160C:1C SubIndex 028
160C:1D SubIndex 029
Meaning PDO Mapping RxPDO 13
Data type UINT8
1. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7031:01, 1
RO
0x7031:02, 1
RO
0x7031:03, 1
RO
0x7031:04, 1
RO
0x0000:00, 4
RO
0x7031:09, 8
RO
0x7031:11, 8
RO
0x0000:00, 8
RO
0x7031:21, 1
RO
0x7031:22, 1
RO
0x7031:23, 1
RO
0x7031:24, 1
RO
0x7031:25, 1
RO
0x7031:26, 1
RO
0x7031:27, 1
RO
0x7031:28, 1
RO
0x7031:29, 1
RO
0x7031:2A, 1
RO
0x0000:00, 22
RO
0x7031:41, 32
RO
0x7031:42, 32
RO
0x7031:43, 32
RO
0x7031:44, 32
RO
0x7031:45, 32
RO
0x7031:46, 32
RO
0x7031:47, 32
RO
0x7031:48, 32
RO
0x7031:49, 32
RO
0x7031:4A, 32
196
Version: 2.8
EL125x, EL2258
Commissioning
Index 160D MTO RxPDO-Map Outputs 5x Ch.4
Index (hex) Name
160D:0
MTO RxPDO-Map Outputs 5x Ch.4
160D:01 SubIndex 001
160D:02 SubIndex 002
160D:03 SubIndex 003
160D:04 SubIndex 004
160D:05 160D:06
SubIndex 005 SubIndex 006
160D:07 SubIndex 007
160D:08 160D:09
SubIndex 008 SubIndex 009
160D:0A SubIndex 010
160D:0B SubIndex 011
160D:0C SubIndex 012
160D:0D SubIndex 013
160D:0E 160D:0F
SubIndex 014 SubIndex 015
160D:10 SubIndex 016
160D:11 SubIndex 017
160D:12 SubIndex 018
160D:13 SubIndex 019
Meaning PDO Mapping RxPDO 14
Data type UINT8
1. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7031:01, 1
RO
0x7031:02, 1
RO
0x7031:03, 1
RO
0x7031:04, 1
RO
0x0000:00, 4
RO
0x7031:09, 8
RO
0x7031:11, 8
RO
0x0000:00, 8
RO
0x7031:21, 1
RO
0x7031:22, 1
RO
0x7031:23, 1
RO
0x7031:24, 1
RO
0x7031:25, 1
RO
0x0000:00, 27
RO
0x7031:41, 32
RO
0x7031:42, 32
RO
0x7031:43, 32
RO
0x7031:44, 32
RO
0x7031:45, 32
EL125x, EL2258
Version: 2.8
197
Commissioning
Index 160E MTO RxPDO-Map Outputs 2x Ch.4
Index (hex) Name
160E:0
MTO RxPDO-Map Outputs 2x Ch.4
160E:01 SubIndex 001
160E:02 SubIndex 002
160E:03 SubIndex 003
160E:04 SubIndex 004
160E:05 160E:06
SubIndex 005 SubIndex 006
160E:07 SubIndex 007
160E:08 160E:09
SubIndex 008 SubIndex 009
160E:0A SubIndex 010
160E:0B 160E:0C
SubIndex 011 SubIndex 012
160E:0D SubIndex 013
Meaning PDO Mapping RxPDO 15
Data type UINT8
1. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7031:01, 1
RO
0x7031:02, 1
RO
0x7031:03, 1
RO
0x7031:04, 1
RO
0x0000:00, 4
RO
0x7031:09, 8
RO
0x7031:11, 8
RO
0x0000:00, 8
RO
0x7031:21, 1
RO
0x7031:22, 1
RO
0x0000:00, 30
RO
0x7031:41, 32
RO
0x7031:42, 32
Index 160F MTO RxPDO-Map Outputs 1x Ch.4
Index (hex) Name
160F:0
MTO RxPDO-Map Outputs 1x Ch.4
160F:01 SubIndex 001
160F:02 SubIndex 002
160F:03 SubIndex 003
160F:04 SubIndex 004
160F:05 160F:06
SubIndex 005 SubIndex 006
160F:07 SubIndex 007
160F:08 160F:09
SubIndex 008 SubIndex 009
160F:0A 160F:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 16
Data type UINT8
1. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7031:01, 1
RO
0x7031:02, 1
RO
0x7031:03, 1
RO
0x7031:04, 1
RO
0x0000:00, 4
RO
0x7031:09, 8
RO
0x7031:11, 8
RO
0x0000:00, 8
RO
0x7031:21, 1
RO
0x0000:00, 31
RO
0x7031:41, 32
198
Version: 2.8
EL125x, EL2258
Commissioning
Index 1610 MTO RxPDO-Map Outputs 10x Ch.5
Index (hex) Name
1610:0
MTO RxPDO-Map Outputs 10x Ch.5
1610:01
SubIndex 001
1610:02
SubIndex 002
1610:03
SubIndex 003
1610:04
SubIndex 004
1610:05 1610:06
SubIndex 005 SubIndex 006
1610:07
SubIndex 007
1610:08 1610:09
SubIndex 008 SubIndex 009
1610:0A SubIndex 010
1610:0B SubIndex 011
1610:0C SubIndex 012
1610:0D SubIndex 013
1610:0E SubIndex 014
1610:0F SubIndex 015
1610:10
SubIndex 016
1610:11
SubIndex 017
1610:12
SubIndex 018
1610:13 1610:14
SubIndex 019 SubIndex 020
1610:15
SubIndex 021
1610:16
SubIndex 022
1610:17
SubIndex 023
1610:18
SubIndex 024
1610:19
SubIndex 025
1610:1A SubIndex 026
1610:1B SubIndex 027
1610:1C SubIndex 028
1610:1D SubIndex 029
Meaning PDO Mapping RxPDO 17
Data type UINT8
1. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7041:01, 1
RO
0x7041:02, 1
RO
0x7041:03, 1
RO
0x7041:04, 1
RO
0x0000:00, 4
RO
0x7041:09, 8
RO
0x7041:11, 8
RO
0x0000:00, 8
RO
0x7041:21, 1
RO
0x7041:22, 1
RO
0x7041:23, 1
RO
0x7041:24, 1
RO
0x7041:25, 1
RO
0x7041:26, 1
RO
0x7041:27, 1
RO
0x7041:28, 1
RO
0x7041:29, 1
RO
0x7041:2A, 1
RO
0x0000:00, 22
RO
0x7041:41, 32
RO
0x7041:42, 32
RO
0x7041:43, 32
RO
0x7041:44, 32
RO
0x7041:45, 32
RO
0x7041:46, 32
RO
0x7041:47, 32
RO
0x7041:48, 32
RO
0x7041:49, 32
RO
0x7041:4A, 32
EL125x, EL2258
Version: 2.8
199
Commissioning
Index 1611 MTO RxPDO-Map Outputs 5x Ch.5
Index (hex) Name
1611:0
MTO RxPDO-Map Outputs 5x Ch.5
1611:01
SubIndex 001
1611:02
SubIndex 002
1611:03
SubIndex 003
1611:04
SubIndex 004
1611:05 1611:06
SubIndex 005 SubIndex 006
1611:07
SubIndex 007
1611:08 1611:09
SubIndex 008 SubIndex 009
1611:0A SubIndex 010
1611:0B SubIndex 011
1611:0C SubIndex 012
1611:0D SubIndex 013
1611:0E 1611:0F
SubIndex 014 SubIndex 015
1611:10
SubIndex 016
1611:11
SubIndex 017
1611:12
SubIndex 018
1611:13
SubIndex 019
Meaning PDO Mapping RxPDO 18
Data type UINT8
1. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7041:01, 1
RO
0x7041:02, 1
RO
0x7041:03, 1
RO
0x7041:04, 1
RO
0x0000:00, 4
RO
0x7041:09, 8
RO
0x7041:11, 8
RO
0x0000:00, 8
RO
0x7041:21, 1
RO
0x7041:22, 1
RO
0x7041:23, 1
RO
0x7041:24, 1
RO
0x7041:25, 1
RO
0x0000:00, 27
RO
0x7041:41, 32
RO
0x7041:42, 32
RO
0x7041:43, 32
RO
0x7041:44, 32
RO
0x7041:45, 32
200
Version: 2.8
EL125x, EL2258
Commissioning
Index 1612 MTO RxPDO-Map Outputs 2x Ch.5
Index (hex) Name
1612:0
MTO RxPDO-Map Outputs 2x Ch.5
1612:01
SubIndex 001
1612:02
SubIndex 002
1612:03
SubIndex 003
1612:04
SubIndex 004
1612:05 1612:06
SubIndex 005 SubIndex 006
1612:07
SubIndex 007
1612:08 1612:09
SubIndex 008 SubIndex 009
1612:0A SubIndex 010
1612:0B 1612:0C
SubIndex 011 SubIndex 012
1612:0D SubIndex 013
Meaning PDO Mapping RxPDO 19
Data type UINT8
1. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7041:01, 1
RO
0x7041:02, 1
RO
0x7041:03, 1
RO
0x7041:04, 1
RO
0x0000:00, 4
RO
0x7041:09, 8
RO
0x7041:11, 8
RO
0x0000:00, 8
RO
0x7041:21, 1
RO
0x7041:22, 1
RO
0x0000:00, 30
RO
0x7041:41, 32
RO
0x7041:42, 32
Index 1613 MTO RxPDO-Map Outputs 1x Ch.5
Index (hex) Name
1613:0
MTO RxPDO-Map Outputs 1x Ch.5
1613:01
SubIndex 001
1613:02
SubIndex 002
1613:03
SubIndex 003
1613:04
SubIndex 004
1613:05 1613:06
SubIndex 005 SubIndex 006
1613:07
SubIndex 007
1613:08 1613:09
SubIndex 008 SubIndex 009
1613:0A 1613:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 20
Data type UINT8
1. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7041:01, 1
RO
0x7041:02, 1
RO
0x7041:03, 1
RO
0x7041:04, 1
RO
0x0000:00, 4
RO
0x7041:09, 8
RO
0x7041:11, 8
RO
0x0000:00, 8
RO
0x7041:21, 1
RO
0x0000:00, 31
RO
0x7041:41, 32
EL125x, EL2258
Version: 2.8
201
Commissioning
Index 1614 MTO RxPDO-Map Outputs 10x Ch.6
Index (hex) Name
1614:0
MTO RxPDO-Map Outputs 10x Ch.6
1614:01
SubIndex 001
1614:02
SubIndex 002
1614:03
SubIndex 003
1614:04
SubIndex 004
1614:05 1614:06
SubIndex 005 SubIndex 006
1614:07
SubIndex 007
1614:08 1614:09
SubIndex 008 SubIndex 009
1614:0A SubIndex 010
1614:0B SubIndex 011
1614:0C SubIndex 012
1614:0D SubIndex 013
1614:0E SubIndex 014
1614:0F SubIndex 015
1614:10
SubIndex 016
1614:11
SubIndex 017
1614:12
SubIndex 018
1614:13 1614:14
SubIndex 019 SubIndex 020
1614:15
SubIndex 021
1614:16
SubIndex 022
1614:17
SubIndex 023
1614:18
SubIndex 024
1614:19
SubIndex 025
1614:1A SubIndex 026
1614:1B SubIndex 027
1614:1C SubIndex 028
1614:1D SubIndex 029
Meaning PDO Mapping RxPDO 21
Data type UINT8
1. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7051:01, 1
RO
0x7051:02, 1
RO
0x7051:03, 1
RO
0x7051:04, 1
RO
0x0000:00, 4
RO
0x7051:09, 8
RO
0x7051:11, 8
RO
0x0000:00, 8
RO
0x7051:21, 1
RO
0x7051:22, 1
RO
0x7051:23, 1
RO
0x7051:24, 1
RO
0x7051:25, 1
RO
0x7051:26, 1
RO
0x7051:27, 1
RO
0x7051:28, 1
RO
0x7051:29, 1
RO
0x7051:2A, 1
RO
0x0000:00, 22
RO
0x7051:41, 32
RO
0x7051:42, 32
RO
0x7051:43, 32
RO
0x7051:44, 32
RO
0x7051:45, 32
RO
0x7051:46, 32
RO
0x7051:47, 32
RO
0x7051:48, 32
RO
0x7051:49, 32
RO
0x7051:4A, 32
202
Version: 2.8
EL125x, EL2258
Commissioning
Index 1615 MTO RxPDO-Map Outputs 5x Ch.6
Index (hex) Name
1615:0
MTO RxPDO-Map Outputs 5x Ch.6
1615:01
SubIndex 001
1615:02
SubIndex 002
1615:03
SubIndex 003
1615:04
SubIndex 004
1615:05 1615:06
SubIndex 005 SubIndex 006
1615:07
SubIndex 007
1615:08 1615:09
SubIndex 008 SubIndex 009
1615:0A SubIndex 010
1615:0B SubIndex 011
1615:0C SubIndex 012
1615:0D SubIndex 013
1615:0E 1615:0F
SubIndex 014 SubIndex 015
1615:10
SubIndex 016
1615:11
SubIndex 017
1615:12
SubIndex 018
1615:13
SubIndex 019
Meaning PDO Mapping RxPDO 22
Data type UINT8
1. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7051:01, 1
RO
0x7051:02, 1
RO
0x7051:03, 1
RO
0x7051:04, 1
RO
0x0000:00, 4
RO
0x7051:09, 8
RO
0x7051:11, 8
RO
0x0000:00, 8
RO
0x7051:21, 1
RO
0x7051:22, 1
RO
0x7051:23, 1
RO
0x7051:24, 1
RO
0x7051:25, 1
RO
0x0000:00, 27
RO
0x7051:41, 32
RO
0x7051:42, 32
RO
0x7051:43, 32
RO
0x7051:44, 32
RO
0x7051:45, 32
EL125x, EL2258
Version: 2.8
203
Commissioning
Index 1616 MTO RxPDO-Map Outputs 2x Ch.6
Index (hex) Name
1616:0
MTO RxPDO-Map Outputs 2x Ch.6
1616:01
SubIndex 001
1616:02
SubIndex 002
1616:03
SubIndex 003
1616:04
SubIndex 004
1616:05 1616:06
SubIndex 005 SubIndex 006
1616:07
SubIndex 007
1616:08 1616:09
SubIndex 008 SubIndex 009
1616:0A SubIndex 010
1616:0B 1616:0C
SubIndex 011 SubIndex 012
1616:0D SubIndex 013
Meaning PDO Mapping RxPDO 23
Data type UINT8
1. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7051:01, 1
RO
0x7051:02, 1
RO
0x7051:03, 1
RO
0x7051:04, 1
RO
0x0000:00, 4
RO
0x7051:09, 8
RO
0x7051:11, 8
RO
0x0000:00, 8
RO
0x7051:21, 1
RO
0x7051:22, 1
RO
0x0000:00, 30
RO
0x7051:41, 32
RO
0x7051:42, 32
Index 1617 MTO RxPDO-Map Outputs 1x Ch.6
Index (hex) Name
1617:0
MTO RxPDO-Map Outputs 1x Ch.6
1617:01
SubIndex 001
1617:02
SubIndex 002
1617:03
SubIndex 003
1617:04
SubIndex 004
1617:05 1617:06
SubIndex 005 SubIndex 006
1617:07
SubIndex 007
1617:08 1617:09
SubIndex 008 SubIndex 009
1617:0A 1617:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 24
Data type UINT8
1. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7051:01, 1
RO
0x7051:02, 1
RO
0x7051:03, 1
RO
0x7051:04, 1
RO
0x0000:00, 4
RO
0x7051:09, 8
RO
0x7051:11, 8
RO
0x0000:00, 8
RO
0x7051:21, 1
RO
0x0000:00, 31
RO
0x7051:41, 32
204
Version: 2.8
EL125x, EL2258
Commissioning
Index 1618 MTO RxPDO-Map Outputs 10x Ch.7
Index (hex) Name
1618:0
MTO RxPDO-Map Outputs 10x Ch.7
1618:01
SubIndex 001
1618:02
SubIndex 002
1618:03
SubIndex 003
1618:04
SubIndex 004
1618:05 1618:06
SubIndex 005 SubIndex 006
1618:07
SubIndex 007
1618:08 1618:09
SubIndex 008 SubIndex 009
1618:0A SubIndex 010
1618:0B SubIndex 011
1618:0C SubIndex 012
1618:0D SubIndex 013
1618:0E SubIndex 014
1618:0F SubIndex 015
1618:10
SubIndex 016
1618:11
SubIndex 017
1618:12
SubIndex 018
1618:13 1618:14
SubIndex 019 SubIndex 020
1618:15
SubIndex 021
1618:16
SubIndex 022
1618:17
SubIndex 023
1618:18
SubIndex 024
1618:19
SubIndex 025
1618:1A SubIndex 026
1618:1B SubIndex 027
1618:1C SubIndex 028
1618:1D SubIndex 029
Meaning PDO Mapping RxPDO 25
Data type UINT8
1. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7061:01, 1
RO
0x7061:02, 1
RO
0x7061:03, 1
RO
0x7061:04, 1
RO
0x0000:00, 4
RO
0x7061:09, 8
RO
0x7061:11, 8
RO
0x0000:00, 8
RO
0x7061:21, 1
RO
0x7061:22, 1
RO
0x7061:23, 1
RO
0x7061:24, 1
RO
0x7061:25, 1
RO
0x7061:26, 1
RO
0x7061:27, 1
RO
0x7061:28, 1
RO
0x7061:29, 1
RO
0x7061:2A, 1
RO
0x0000:00, 22
RO
0x7061:41, 32
RO
0x7061:42, 32
RO
0x7061:43, 32
RO
0x7061:44, 32
RO
0x7061:45, 32
RO
0x7061:46, 32
RO
0x7061:47, 32
RO
0x7061:48, 32
RO
0x7061:49, 32
RO
0x7061:4A, 32
EL125x, EL2258
Version: 2.8
205
Commissioning
Index 1619 MTO RxPDO-Map Outputs 5x Ch.7
Index (hex) Name
1619:0
MTO RxPDO-Map Outputs 5x Ch.7
1619:01
SubIndex 001
1619:02
SubIndex 002
1619:03
SubIndex 003
1619:04
SubIndex 004
1619:05 1619:06
SubIndex 005 SubIndex 006
1619:07
SubIndex 007
1619:08 1619:09
SubIndex 008 SubIndex 009
1619:0A SubIndex 010
1619:0B SubIndex 011
1619:0C SubIndex 012
1619:0D SubIndex 013
1619:0E 1619:0F
SubIndex 014 SubIndex 015
1619:10
SubIndex 016
1619:11
SubIndex 017
1619:12
SubIndex 018
1619:13
SubIndex 019
Meaning PDO Mapping RxPDO 26
Data type UINT8
1. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7061:01, 1
RO
0x7061:02, 1
RO
0x7061:03, 1
RO
0x7061:04, 1
RO
0x0000:00, 4
RO
0x7061:09, 8
RO
0x7061:11, 8
RO
0x0000:00, 8
RO
0x7061:21, 1
RO
0x7061:22, 1
RO
0x7061:23, 1
RO
0x7061:24, 1
RO
0x7061:25, 1
RO
0x0000:00, 27
RO
0x7061:41, 32
RO
0x7061:42, 32
RO
0x7061:43, 32
RO
0x7061:44, 32
RO
0x7061:45, 32
206
Version: 2.8
EL125x, EL2258
Commissioning
Index 161A MTO RxPDO-Map Outputs 2x Ch.7
Index (hex) Name
161A:0
MTO RxPDO-Map Outputs 2x Ch.7
161A:01 SubIndex 001
161A:02 SubIndex 002
161A:03 SubIndex 003
161A:04 SubIndex 004
161A:05 161A:06
SubIndex 005 SubIndex 006
161A:07 SubIndex 007
161A:08 161A:09
SubIndex 008 SubIndex 009
161A:0A SubIndex 010
161A:0B 161A:0C
SubIndex 011 SubIndex 012
161A:0D SubIndex 013
Meaning PDO Mapping RxPDO 27
Data type UINT8
1. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7061:01, 1
RO
0x7061:02, 1
RO
0x7061:03, 1
RO
0x7061:04, 1
RO
0x0000:00, 4
RO
0x7061:09, 8
RO
0x7061:11, 8
RO
0x0000:00, 8
RO
0x7061:21, 1
RO
0x7061:22, 1
RO
0x0000:00, 30
RO
0x7061:41, 32
RO
0x7061:42, 32
Index 161B MTO RxPDO-Map Outputs 1x Ch.7
Index (hex) Name
161B:0
MTO RxPDO-Map Outputs 1x Ch.7
161B:01 SubIndex 001
161B:02 SubIndex 002
161B:03 SubIndex 003
161B:04 SubIndex 004
161B:05 161B:06
SubIndex 005 SubIndex 006
161B:07 SubIndex 007
161B:08 161B:09
SubIndex 008 SubIndex 009
161B:0A 161B:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 28
Data type UINT8
1. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7061:01, 1
RO
0x7061:02, 1
RO
0x7061:03, 1
RO
0x7061:04, 1
RO
0x0000:00, 4
RO
0x7061:09, 8
RO
0x7061:11, 8
RO
0x0000:00, 8
RO
0x7061:21, 1
RO
0x0000:00, 31
RO
0x7061:41, 32
EL125x, EL2258
Version: 2.8
207
Commissioning
Index 161C MTO RxPDO-Map Outputs 10x Ch.8
Index (hex) Name
161C:0
MTO RxPDO-Map Outputs 10x Ch.8
161C:01 SubIndex 001
161C:02 SubIndex 002
161C:03 SubIndex 003
161C:04 SubIndex 004
161C:05 161C:06
SubIndex 005 SubIndex 006
161C:07 SubIndex 007
161C:08 161C:09
SubIndex 008 SubIndex 009
161C:0A SubIndex 010
161C:0B SubIndex 011
161C:0C SubIndex 012
161C:0D SubIndex 013
161C:0E SubIndex 014
161C:0F SubIndex 015
161C:10 SubIndex 016
161C:11 SubIndex 017
161C:12 SubIndex 018
161C:13 161C:14
SubIndex 019 SubIndex 020
161C:15 SubIndex 021
161C:16 SubIndex 022
161C:17 SubIndex 023
161C:18 SubIndex 024
161C:19 SubIndex 025
161C:1A SubIndex 026
161C:1B SubIndex 027
161C:1C SubIndex 028
161C:1D SubIndex 029
Meaning PDO Mapping RxPDO 29
Data type UINT8
1. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7071:01, 1
RO
0x7071:02, 1
RO
0x7071:03, 1
RO
0x7071:04, 1
RO
0x0000:00, 4
RO
0x7071:09, 8
RO
0x7071:11, 8
RO
0x0000:00, 8
RO
0x7071:21, 1
RO
0x7071:22, 1
RO
0x7071:23, 1
RO
0x7071:24, 1
RO
0x7071:25, 1
RO
0x7071:26, 1
RO
0x7071:27, 1
RO
0x7071:28, 1
RO
0x7071:29, 1
RO
0x7071:2A, 1
RO
0x0000:00, 22
RO
0x7071:41, 32
RO
0x7071:42, 32
RO
0x7071:43, 32
RO
0x7071:44, 32
RO
0x7071:45, 32
RO
0x7071:46, 32
RO
0x7071:47, 32
RO
0x7071:48, 32
RO
0x7071:49, 32
RO
0x7071:4A, 32
208
Version: 2.8
EL125x, EL2258
Commissioning
Index 161D MTO RxPDO-Map Outputs 5x Ch.8
Index (hex) Name
161D:0
MTO RxPDO-Map Outputs 5x Ch.8
161D:01 SubIndex 001
161D:02 SubIndex 002
161D:03 SubIndex 003
161D:04 SubIndex 004
161D:05 161D:06
SubIndex 005 SubIndex 006
161D:07 SubIndex 007
161D:08 161D:09
SubIndex 008 SubIndex 009
161D:0A SubIndex 010
161D:0B SubIndex 011
161D:0C SubIndex 012
161D:0D SubIndex 013
161D:0E 161D:0F
SubIndex 014 SubIndex 015
161D:10 SubIndex 016
161D:11 SubIndex 017
161D:12 SubIndex 018
161D:13 SubIndex 019
Meaning PDO Mapping RxPDO 30
Data type UINT8
1. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7071:01, 1
RO
0x7071:02, 1
RO
0x7071:03, 1
RO
0x7071:04, 1
RO
0x0000:00, 4
RO
0x7071:09, 8
RO
0x7071:11, 8
RO
0x0000:00, 8
RO
0x7071:21, 1
RO
0x7071:22, 1
RO
0x7071:23, 1
RO
0x7071:24, 1
RO
0x7071:25, 1
RO
0x0000:00, 27
RO
0x7071:41, 32
RO
0x7071:42, 32
RO
0x7071:43, 32
RO
0x7071:44, 32
RO
0x7071:45, 32
EL125x, EL2258
Version: 2.8
209
Commissioning
Index 161E MTO RxPDO-Map Outputs 2x Ch.8
Index (hex) Name
161E:0
MTO RxPDO-Map Outputs 2x Ch.8
161E:01 SubIndex 001
161E:02 SubIndex 002
161E:03 SubIndex 003
161E:04 SubIndex 004
161E:05 161E:06
SubIndex 005 SubIndex 006
161E:07 SubIndex 007
161E:08 161E:09
SubIndex 008 SubIndex 009
161E:0A SubIndex 010
161E:0B 161E:0C
SubIndex 011 SubIndex 012
161E:0D SubIndex 013
Meaning PDO Mapping RxPDO 31
Data type UINT8
1. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7071:01, 1
RO
0x7071:02, 1
RO
0x7071:03, 1
RO
0x7071:04, 1
RO
0x0000:00, 4
RO
0x7071:09, 8
RO
0x7071:11, 8
RO
0x0000:00, 8
RO
0x7071:21, 1
RO
0x7071:22, 1
RO
0x0000:00, 30
RO
0x7071:41, 32
RO
0x7071:42, 32
Index 161F MTO RxPDO-Map Outputs 1x Ch.8
Index (hex) Name
161F:0
MTO RxPDO-Map Outputs 1x Ch.8
161F:01 SubIndex 001
161F:02 SubIndex 002
161F:03 SubIndex 003
161F:04 SubIndex 004
161F:05 161F:06
SubIndex 005 SubIndex 006
161F:07 SubIndex 007
161F:08 161F:09
SubIndex 008 SubIndex 009
161F:0A 161F:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 32
Data type UINT8
1. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7071:01, 1
RO
0x7071:02, 1
RO
0x7071:03, 1
RO
0x7071:04, 1
RO
0x0000:00, 4
RO
0x7071:09, 8
RO
0x7071:11, 8
RO
0x0000:00, 8
RO
0x7071:21, 1
RO
0x0000:00, 31
RO
0x7071:41, 32
Index 1620 MTI RxPDO-Map Outputs Ch.1
Index (hex) Name
Meaning
1620:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 33 puts Ch.1
1620:01
SubIndex 001
1. PDO Mapping entry (object 0x7080 (MTI outputs Ch.1), entry 0x01 (Input buffer reset))
1620:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1620:03
SubIndex 003
3. PDO Mapping entry (object 0x7080 (MTI outputs Ch.1), entry 0x11 (Input order counter))
1620:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x7080:01, 1
RO
0x0000:00, 15
RO
0x7080:11, 8
RO
0x0000:00, 8
210
Version: 2.8
EL125x, EL2258
Commissioning
Index 1621 MTI RxPDO-Map Outputs Ch.2
Index (hex) Name
Meaning
1621:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 34 puts Ch.2
1621:01
SubIndex 001
1. PDO Mapping entry (object 0x7090 (MTI outputs Ch.2), entry 0x01 (Input buffer reset))
1621:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1621:03
SubIndex 003
3. PDO Mapping entry (object 0x7090 (MTI outputs Ch.2), entry 0x11 (Input order counter))
1621:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x7090:01, 1
RO
0x0000:00, 15
RO
0x7090:11, 8
RO
0x0000:00, 8
Index 1622 MTI RxPDO-Map Outputs Ch.3
Index (hex) Name
Meaning
1622:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 35 puts Ch.3
1622:01
SubIndex 001
1. PDO Mapping entry (object 0x70A0 (MTI outputs Ch.3), entry 0x01 (Input buffer reset))
1622:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1622:03
SubIndex 003
3. PDO Mapping entry (object 0x70A0 (MTI outputs Ch.3), entry 0x11 (Input order counter))
1622:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x70A0:01, 1
RO
0x0000:00, 15
RO
0x70A0:11, 8
RO
0x0000:00, 8
Index 1623 MTI RxPDO-Map Outputs Ch.4
Index (hex) Name
Meaning
1623:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 36 puts Ch.4
1623:01
SubIndex 001
1. PDO Mapping entry (object 0x70B0 (MTI outputs Ch.4), entry 0x01 (Input buffer reset))
1623:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1623:03
SubIndex 003
3. PDO Mapping entry (object 0x70B0 (MTI outputs Ch.4), entry 0x11 (Input order counter))
1623:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x70B0:01, 1
RO
0x0000:00, 15
RO
0x70B0:11, 8
RO
0x0000:00, 8
Index 1624 MTI RxPDO-Map Outputs Ch.5
Index (hex) Name
Meaning
1624:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 37 puts Ch.5
1624:01
SubIndex 001
1. PDO Mapping entry (object 0x70C0 (MTI outputs Ch.5), entry 0x01 (Input buffer reset))
1624:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1624:03
SubIndex 003
3. PDO Mapping entry (object 0x70C0 (MTI outputs Ch.5), entry 0x11 (Input order counter))
1624:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x70C0:01, 1
RO
0x0000:00, 15
RO
0x70C0:11, 8
RO
0x0000:00, 8
Index 1625 MTI RxPDO-Map Outputs Ch.6
Index (hex) Name
Meaning
1625:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 38 puts Ch.6
1625:01
SubIndex 001
1. PDO Mapping entry (object 0x70D0 (MTI outputs Ch.6), entry 0x01 (Input buffer reset))
1625:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1625:03
SubIndex 003
3. PDO Mapping entry (object 0x70D0 (MTI outputs Ch.6), entry 0x11 (Input order counter))
1625:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x70D0:01, 1
RO
0x0000:00, 15
RO
0x70D0:11, 8
RO
0x0000:00, 8
EL125x, EL2258
Version: 2.8
211
Commissioning
Index 1626 MTI RxPDO-Map Outputs Ch.7
Index (hex) Name
Meaning
1626:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 39 puts Ch.7
1626:01
SubIndex 001
1. PDO Mapping entry (object 0x70E0 (MTI outputs Ch.7), entry 0x01 (Input buffer reset))
1626:02
SubIndex 002
2. PDO Mapping entry (15 bits align)
1626:03
SubIndex 003
3. PDO Mapping entry (object 0x70E0 (MTI outputs Ch.7), entry 0x11 (Input order counter))
1626:04
SubIndex 004
4. PDO Mapping entry (8 bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x70E0:01, 1
RO
0x0000:00, 15
RO
0x70E0:11, 8
RO
0x0000:00, 8
Index 1627 MTI RxPDO-Map Outputs Ch.8
Index (hex) Name
Meaning
1627:0
MTI RxPDO-Map Out- PDO Mapping RxPDO 40 puts Ch.8
1627:01
SubIndex 001
1. PDO Mapping entry (object 0x70F0 (MTI outputs Ch.8), entry 0x01 (Input buffer reset))
1627:02
SubIndex 002
2. PDO Mapping entry (15 Bits align)
1627:03
SubIndex 003
3. PDO Mapping entry (object 0x70F0 (MTI outputs Ch.8), entry 0x11 (Input order counter))
1627:04
SubIndex 004
4. PDO Mapping entry (8 Bits align)
Data type UINT8
UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x04 (4dec)
RO
0x70F0:01, 1
RO
0x0000:00, 15
RO
0x70F0:11, 8
RO
0x0000:00, 8
Index 1628 TSO RxPDO-Map Ch.1
Index (hex) Name
1628:0
TSO RxPDO-Map Ch.1
1628:01
SubIndex 001
1628:02 1628:03
SubIndex 002 SubIndex 003
1628:04 1628:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 41
1. PDO Mapping entry (object 0x7100 (TSO Outputs Ch.1), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7100 (TSO Outputs Ch.1), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7100 (TSO Outputs Ch.1), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7100:01, 1
RO
0x0000:00, 15
RO
0x7100:11, 8
RO
0x0000:00, 40
RO
0x7100:41, 64
Index 1629 TSO RxPDO-Map Ch.2
Index (hex) Name
1629:0
TSO RxPDO-Map Ch.2
1629:01
SubIndex 001
1629:02 1629:03
SubIndex 002 SubIndex 003
1629:04 1629:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 42
1. PDO Mapping entry (object 0x7110 (TSO Outputs Ch.2), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7110 (TSO Outputs Ch.2), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7110 (TSO Outputs Ch.2), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7110:01, 1
RO
0x0000:00, 15
RO
0x7110:11, 8
RO
0x0000:00, 40
RO
0x7110:41, 64
Index 162A TSO RxPDO-Map Ch.3
Index (hex) Name
162A:0
TSO RxPDO-Map Ch.3
162A:01 SubIndex 001
162A:02 162A:03
SubIndex 002 SubIndex 003
162A:04 162A:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 43
1. PDO Mapping entry (object 0x7120 (TSO Outputs Ch.3), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7120 (TSO Outputs Ch.3), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7120 (TSO Outputs Ch.3), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7120:01, 1
RO
0x0000:00, 15
RO
0x7120:11, 8
RO
0x0000:00, 40
RO
0x7120:41, 64
212
Version: 2.8
EL125x, EL2258
Commissioning
Index 162B TSO RxPDO-Map Ch.4
Index (hex) Name
162B:0
TSO RxPDO-Map Ch.4
162B:01 SubIndex 001
162B:02 162B:03
SubIndex 002 SubIndex 003
162B:04 162B:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 44
1. PDO Mapping entry (object 0x7130 (TSO Outputs Ch.4), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7130 (TSO Outputs Ch.4), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7130 (TSO Outputs Ch.4), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7130:01, 1
RO
0x0000:00, 15
RO
0x7130:11, 8
RO
0x0000:00, 40
RO
0x7130:41, 64
Index 162C TSO RxPDO-Map Ch.5
Index (hex) Name
162C:0
TSO RxPDO-Map Ch.5
162C:01 SubIndex 001
162C:02 162C:03
SubIndex 002 SubIndex 003
162C:04 162C:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 45
1. PDO Mapping entry (object 0x7140 (TSO Outputs Ch.5), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7140 (TSO Outputs Ch.5), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7140 (TSO Outputs Ch.5), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7140:01, 1
RO
0x0000:00, 15
RO
0x7140:11, 8
RO
0x0000:00, 40
RO
0x7140:41, 64
Index 162D TSO RxPDO-Map Ch.6
Index (hex) Name
162D:0
TSO RxPDO-Map Ch.6
162D:01 SubIndex 001
162D:02 162D:03
SubIndex 002 SubIndex 003
162D:04 162D:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 46
1. PDO Mapping entry (object 0x7150 (TSO Outputs Ch.6), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7150 (TSO Outputs Ch.6), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7150 (TSO Outputs Ch.6), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7150:01, 1
RO
0x0000:00, 15
RO
0x7150:11, 8
RO
0x0000:00, 40
RO
0x7150:41, 64
Index 162E TSO RxPDO-Map Ch.7
Index (hex) Name
162E:0
TSO RxPDO-Map Ch.7
162E:01 SubIndex 001
162E:02 162E:03
SubIndex 002 SubIndex 003
162E:04 162E:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 47
1. PDO Mapping entry (object 0x7160 (TSO Outputs Ch.7), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7160 (TSO Outputs Ch.7), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7160 (TSO Outputs Ch.7), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7160:01, 1
RO
0x0000:00, 15
RO
0x7160:11, 8
RO
0x0000:00, 40
RO
0x7160:41, 64
EL125x, EL2258
Version: 2.8
213
Commissioning
Index 162F TSO RxPDO-Map Ch.8
Index (hex) Name
162F:0
TSO RxPDO-Map Ch.8
162F:01 SubIndex 001
162F:02 162F:03
SubIndex 002 SubIndex 003
162F:04 162F:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 48
1. PDO Mapping entry (object 0x7170 (TSO Outputs Ch.8), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7170 (TSO Outputs Ch.8), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7170 (TSO Outputs Ch.8), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7170:01, 1
RO
0x0000:00, 15
RO
0x7170:11, 8
RO
0x0000:00, 40
RO
0x7170:41, 64
Index 1A00 MTO TxPDO-Map Inputs Ch.1
Index (hex) Name
1A00:0
MTO TxPDO-Map Inputs Ch.1
1A00:01 SubIndex 001
1A00:02 SubIndex 002
1A00:03 SubIndex 003
1A00:04 1A00:05
SubIndex 004 SubIndex 005
1A00:06 SubIndex 006
1A00:07 SubIndex 007
Meaning PDO Mapping TxPDO 1
1. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6000:01, 1
RO
0x6000:02, 1
RO
0x6000:03, 1
RO
0x0000:00, 11
RO
0x6000:0F, 2
RO
0x6000:11, 8
RO
0x6000:12, 8
Index 1A01 MTO TxPDO-Map Inputs Ch.2
Index (hex) Name
1A01:0
MTO TxPDO-Map Inputs Ch.2
1A01:01 SubIndex 001
1A01:02 SubIndex 002
1A01:03 SubIndex 003
1A01:04 1A01:05
SubIndex 004 SubIndex 005
1A01:06 SubIndex 006
1A01:07 SubIndex 007
Meaning PDO Mapping TxPDO 2
1. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6010:01, 1
RO
0x6010:02, 1
RO
0x6010:03, 1
RO
0x0000:00, 11
RO
0x6010:0F, 2
RO
0x6010:11, 8
RO
0x6010:12, 8
214
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A02 MTO TxPDO-Map Inputs Ch.3
Index (hex) Name
1A02:0
MTO TxPDO-Map Inputs Ch.3
1A02:01 SubIndex 001
1A02:02 SubIndex 002
1A02:03 SubIndex 003
1A02:04 1A02:05
SubIndex 004 SubIndex 005
1A02:06 SubIndex 006
1A02:07 SubIndex 007
Meaning PDO Mapping TxPDO 3
1. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6020:01, 1
RO
0x6020:02, 1
RO
0x6020:03, 1
RO
0x0000:00, 11
RO
0x6020:0F, 2
RO
0x6020:11, 8
RO
0x6020:12, 8
Index 1A03 MTO TxPDO-Map Inputs Ch.4
Index (hex) Name
1A03:0
MTO TxPDO-Map Inputs Ch.4
1A03:01 SubIndex 001
1A03:02 SubIndex 002
1A03:03 SubIndex 003
1A03:04 1A03:05
SubIndex 004 SubIndex 005
1A03:06 SubIndex 006
1A03:07 SubIndex 007
Meaning PDO Mapping TxPDO 4
1. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6030:01, 1
RO
0x6030:02, 1
RO
0x6030:03, 1
RO
0x0000:00, 11
RO
0x6030:0F, 2
RO
0x6030:11, 8
RO
0x6030:12, 8
Index 1A04 MTO TxPDO-Map Inputs Ch.5
Index (hex) Name
1A04:0
MTO TxPDO-Map Inputs Ch.5
1A04:01 SubIndex 001
1A04:02 SubIndex 002
1A04:03 SubIndex 003
1A04:04 1A04:05
SubIndex 004 SubIndex 005
1A04:06 SubIndex 006
1A04:07 SubIndex 007
Meaning PDO Mapping TxPDO 5
1. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6040:01, 1
RO
0x6040:02, 1
RO
0x6040:03, 1
RO
0x0000:00, 11
RO
0x6040:0F, 2
RO
0x6040:11, 8
RO
0x6040:12, 8
EL125x, EL2258
Version: 2.8
215
Commissioning
Index 1A05 MTO TxPDO-Map Inputs Ch.6
Index (hex) Name
1A05:0
MTO TxPDO-Map Inputs Ch.6
1A05:01 SubIndex 001
1A05:02 SubIndex 002
1A05:03 SubIndex 003
1A05:04 1A05:05
SubIndex 004 SubIndex 005
1A05:06 SubIndex 006
1A05:07 SubIndex 007
Meaning PDO Mapping TxPDO 6
1. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6050:01, 1
RO
0x6050:02, 1
RO
0x6050:03, 1
RO
0x0000:00, 11
RO
0x6050:0F, 2
RO
0x6050:11, 8
RO
0x6050:12, 8
Index 1A06 MTO TxPDO-Map Inputs Ch.7
Index (hex) Name
1A06:0
MTO TxPDO-Map Inputs Ch.7
1A06:01 SubIndex 001
1A06:02 SubIndex 002
1A06:03 SubIndex 003
1A06:04 1A06:05
SubIndex 004 SubIndex 005
1A06:06 SubIndex 006
1A06:07 SubIndex 007
Meaning PDO Mapping TxPDO 7
1. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6060:01, 1
RO
0x6060:02, 1
RO
0x6060:03, 1
RO
0x0000:00, 11
RO
0x6060:0F, 2
RO
0x6060:11, 8
RO
0x6060:12, 8
Index 1A07 MTO TxPDO-Map Inputs Ch.8
Index (hex) Name
1A07:0
MTO TxPDO-Map Inputs Ch.8
1A07:01 SubIndex 001
1A07:02 SubIndex 002
1A07:03 SubIndex 003
1A07:04 1A07:05
SubIndex 004 SubIndex 005
1A07:06 SubIndex 006
1A07:07 SubIndex 007
Meaning PDO Mapping TxPDO 8
1. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6070:01, 1
RO
0x6070:02, 1
RO
0x6070:03, 1
RO
0x0000:00, 11
RO
0x6070:0F, 2
RO
0x6070:11, 8
RO
0x6070:12, 8
216
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A08 MTI TxPDO-Map Inputs 10x Ch.1
Index (hex) Name
1A08:0
MTI TxPDO-Map Inputs 10x Ch.1
1A08:01 SubIndex 001
1A08:02 SubIndex 002
1A08:03 SubIndex 003
1A08:04 1A08:05
SubIndex 004 SubIndex 005
1A08:06 SubIndex 006
1A08:07 SubIndex 007
1A08:08 SubIndex 008
1A08:09 SubIndex 009
1A08:0A SubIndex 010
1A08:0B SubIndex 011
1A08:0C SubIndex 012
1A08:0D SubIndex 013
1A08:0E SubIndex 014
1A08:0F SubIndex 015
1A08:10 SubIndex 016
1A08:11 SubIndex 017
1A08:12 1A08:13
SubIndex 018 SubIndex 019
1A08:14 SubIndex 020
1A08:15 SubIndex 021
1A08:16 SubIndex 022
1A08:17 SubIndex 023
1A08:18 SubIndex 024
1A08:19 SubIndex 025
1A08:1A SubIndex 026
1A08:1B SubIndex 027
1A08:1C SubIndex 028
Meaning
PDO Mapping TxPDO 9
1. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6081:01, 8
RO
0x6081:09, 1
RO
0x6081:0A, 1
RO
0x0000:00, 4
RO
0x6081:0F, 2
RO
0x6081:11, 8
RO
0x6081:12, 8
RO
0x6081:21, 1
RO
0x6081:22, 1
RO
0x6081:23, 1
RO
0x6081:24, 1
RO
0x6081:25, 1
RO
0x6081:26, 1
RO
0x6081:27, 1
RO
0x6081:28, 1
RO
0x6081:29, 1
RO
0x6081:2A, 1
RO
0x0000:00, 22
RO
0x6081:41, 32
RO
0x6081:42, 32
RO
0x6081:43, 32
RO
0x6081:44, 32
RO
0x6081:45, 32
RO
0x6081:46, 32
RO
0x6081:47, 32
RO
0x6081:48, 32
RO
0x6081:49, 32
RO
0x6081:4A, 32
EL125x, EL2258
Version: 2.8
217
Commissioning
Index 1A09 MTI TxPDO-Map Inputs 5x Ch.1
Index (hex) Name
1A09:0
MTI TxPDO-Map Inputs 5x Ch.1
1A09:01 SubIndex 001
1A09:02 SubIndex 002
1A09:03 SubIndex 003
1A09:04 1A09:05
SubIndex 004 SubIndex 005
1A09:06 SubIndex 006
1A09:07 SubIndex 007
1A09:08 SubIndex 008
1A09:09 SubIndex 009
1A09:0A SubIndex 010
1A09:0B SubIndex 011
1A09:0C SubIndex 012
1A09:0D 1A09:0E
SubIndex 013 SubIndex 014
1A09:0F SubIndex 015
1A09:10 SubIndex 016
1A09:11 SubIndex 017
1A09:12 SubIndex 018
Meaning
PDO Mapping TxPDO 10
1. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6081:01, 8
RO
0x6081:09, 1
RO
0x6081:0A, 1
RO
0x0000:00, 4
RO
0x6081:0F, 2
RO
0x6081:11, 8
RO
0x6081:12, 8
RO
0x6081:21, 1
RO
0x6081:22, 1
RO
0x6081:23, 1
RO
0x6081:24, 1
RO
0x6081:25, 1
RO
0x0000:00, 27
RO
0x6081:41, 32
RO
0x6081:42, 32
RO
0x6081:43, 32
RO
0x6081:44, 32
RO
0x6081:45, 32
Index 1A0A MTI TxPDO-Map Inputs 2x Ch.1
Index (hex) Name
1A0A:0
MTI TxPDO-Map Inputs 2x Ch.1
1A0A:01 SubIndex 001
1A0A:02 SubIndex 002
1A0A:03 SubIndex 003
1A0A:04 1A0A:05
SubIndex 004 SubIndex 005
1A0A:06 SubIndex 006
1A0A:07 SubIndex 007
1A0A:08 SubIndex 008
1A0A:09 SubIndex 009
1A0A:0A 1A0A:0B
SubIndex 010 SubIndex 011
1A0A:0C SubIndex 012
Meaning PDO Mapping TxPDO 11
1. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6081:01, 8
RO
0x6081:09, 1
RO
0x6081:0A, 1
RO
0x0000:00, 4
RO
0x6081:0F, 2
RO
0x6081:11, 8
RO
0x6081:12, 8
RO
0x6081:21, 1
RO
0x6081:22, 1
RO
0x0000:00, 30
RO
0x6081:41, 32
RO
0x6081:42, 32
218
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A0B MTI TxPDO-Map Inputs 1x Ch.1
Index (hex) Name
1A0B:0
MTI TxPDO-Map Inputs 1x Ch.1
1A0B:01 SubIndex 001
1A0B:02 SubIndex 002
1A0B:03 SubIndex 003
1A0B:04 1A0B:05
SubIndex 004 SubIndex 005
1A0B:06 SubIndex 006
1A0B:07 SubIndex 007
1A0B:08 SubIndex 008
1A0B:09 1A0B:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 12
1. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6081 (MTI inputs Ch.1), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6081:01, 8
RO
0x6081:09, 1
RO
0x6081:0A, 1
RO
0x0000:00, 4
RO
0x6081:0F, 2
RO
0x6081:11, 8
RO
0x6081:12, 8
RO
0x6081:21, 1
RO
0x0000:00, 31
RO
0x6081:41, 32
EL125x, EL2258
Version: 2.8
219
Commissioning
Index 1A0C MTI TxPDO-Map Inputs 10x Ch.2
Index (hex) Name
1A0C:0
MTI TxPDO-Map Inputs 10x Ch.2
1A0C:01 SubIndex 001
1A0C:02 SubIndex 002
1A0C:03 SubIndex 003
1A0C:04 1A0C:05
SubIndex 004 SubIndex 005
1A0C:06 SubIndex 006
1A0C:07 SubIndex 007
1A0C:08 SubIndex 008
1A0C:09 SubIndex 009
1A0C:0A SubIndex 010
1A0C:0B SubIndex 011
1A0C:0C SubIndex 012
1A0C:0D SubIndex 013
1A0C:0E SubIndex 014
1A0C:0F SubIndex 015
1A0C:10 SubIndex 016
1A0C:11 SubIndex 017
1A0C:12 1A0C:13
SubIndex 018 SubIndex 019
1A0C:14 SubIndex 020
1A0C:15 SubIndex 021
1A0C:16 SubIndex 022
1A0C:17 SubIndex 023
1A0C:18 SubIndex 024
1A0C:19 SubIndex 025
1A0C:1A SubIndex 026
1A0C:1B SubIndex 027
1A0C:1C SubIndex 028
Meaning
PDO Mapping TxPDO 13
1. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x6091:01, 8
RO
0x6091:09, 1
RO
0x6091:0A, 1
RO
0x0000:00, 4
RO
0x6091:0F, 2
RO
0x6091:11, 8
RO
0x6091:12, 8
RO
0x6091:21, 1
RO
0x6091:22, 1
RO
0x6091:23, 1
RO
0x6091:24, 1
RO
0x6091:25, 1
RO
0x6091:26, 1
RO
0x6091:27, 1
RO
0x6091:28, 1
RO
0x6091:29, 1
RO
0x6091:2A, 1
RO
0x0000:00, 22
RO
0x6091:41, 32
RO
0x6091:42, 32
RO
0x6091:43, 32
RO
0x6091:44, 32
RO
0x6091:45, 32
RO
0x6091:46, 32
RO
0x6091:47, 32
RO
0x6091:48, 32
RO
0x6091:49, 32
RO
0x6091:4A, 32
220
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A0D MTI TxPDO-Map Inputs 5x Ch.2
Index (hex) Name
1A0D:0
MTI TxPDO-Map Inputs 5x Ch.2
1A0D:01 SubIndex 001
1A0D:02 SubIndex 002
1A0D:03 SubIndex 003
1A0D:04 1A0D:05
SubIndex 004 SubIndex 005
1A0D:06 SubIndex 006
1A0D:07 SubIndex 007
1A0D:08 SubIndex 008
1A0D:09 SubIndex 009
1A0D:0A SubIndex 010
1A0D:0B SubIndex 011
1A0D:0C SubIndex 012
1A0D:0D 1A0D:0E
SubIndex 013 SubIndex 014
1A0D:0F SubIndex 015
1A0D:10 SubIndex 016
1A0D:11 SubIndex 017
1A0D:12 SubIndex 018
Meaning
PDO Mapping TxPDO 14
1. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x6091:01, 8
RO
0x6091:09, 1
RO
0x6091:0A, 1
RO
0x0000:00, 4
RO
0x6091:0F, 2
RO
0x6091:11, 8
RO
0x6091:12, 8
RO
0x6091:21, 1
RO
0x6091:22, 1
RO
0x6091:23, 1
RO
0x6091:24, 1
RO
0x6091:25, 1
RO
0x0000:00, 27
RO
0x6091:41, 32
RO
0x6091:42, 32
RO
0x6091:43, 32
RO
0x6091:44, 32
RO
0x6091:45, 32
Index 1A0E MTI TxPDO-Map Inputs 2x Ch.2
Index (hex) Name
1A0E:0
MTI TxPDO-Map Inputs 2x Ch.2
1A0E:01 SubIndex 001
1A0E:02 SubIndex 002
1A0E:03 SubIndex 003
1A0E:04 1A0E:05
SubIndex 004 SubIndex 005
1A0E:06 SubIndex 006
1A0E:07 SubIndex 007
1A0E:08 SubIndex 008
1A0E:09 SubIndex 009
1A0E:0A 1A0E:0B
SubIndex 010 SubIndex 011
1A0E:0C SubIndex 012
Meaning PDO Mapping TxPDO 15
1. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x6091:01, 8
RO
0x6091:09, 1
RO
0x6091:0A, 1
RO
0x0000:00, 4
RO
0x6091:0F, 2
RO
0x6091:11, 8
RO
0x6091:12, 8
RO
0x6091:21, 1
RO
0x6091:22, 1
RO
0x0000:00, 30
RO
0x6091:41, 32
RO
0x6091:42, 32
EL125x, EL2258
Version: 2.8
221
Commissioning
Index 1A0F MTI TxPDO-Map Inputs 1x Ch.2
Index (hex) Name
1A0F:0
MTI TxPDO-Map Inputs 1x Ch.2
1A0F:01 SubIndex 001
1A0F:02 SubIndex 002
1A0F:03 SubIndex 003
1A0F:04 1A0F:05
SubIndex 004 SubIndex 005
1A0F:06 SubIndex 006
1A0F:07 SubIndex 007
1A0F:08 SubIndex 008
1A0F:09 1A0F:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 16
1. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x6091 (MTI inputs Ch.2), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x6091:01, 8
RO
0x6091:09, 1
RO
0x6091:0A, 1
RO
0x0000:00, 4
RO
0x6091:0F, 2
RO
0x6091:11, 8
RO
0x6091:12, 8
RO
0x6091:21, 1
RO
0x0000:00, 31
RO
0x6091:41, 32
222
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A10 MTI TxPDO-Map Inputs 10x Ch.3
Index (hex) Name
1A10:0
MTI TxPDO-Map Inputs 10x Ch.3
1A10:01 SubIndex 001
1A10:02 SubIndex 002
1A10:03 SubIndex 003
1A10:04 1A10:05
SubIndex 004 SubIndex 005
1A10:06 SubIndex 006
1A10:07 SubIndex 007
1A10:08 SubIndex 008
1A10:09 SubIndex 009
1A10:0A SubIndex 010
1A10:0B SubIndex 011
1A10:0C SubIndex 012
1A10:0D SubIndex 013
1A10:0E SubIndex 014
1A10:0F SubIndex 015
1A10:10 SubIndex 016
1A10:11 SubIndex 017
1A10:12 1A10:13
SubIndex 018 SubIndex 019
1A10:14 SubIndex 020
1A10:15 SubIndex 021
1A10:16 SubIndex 022
1A10:17 SubIndex 023
1A10:18 SubIndex 024
1A10:19 SubIndex 025
1A10:1A SubIndex 026
1A10:1B SubIndex 027
1A10:1C SubIndex 028
Meaning
PDO Mapping TxPDO 17
1. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x60A1:01, 8
RO
0x60A1:09, 1
RO
0x60A1:0A, 1
RO
0x0000:00, 4
RO
0x60A1:0F, 2
RO
0x60A1:11, 8
RO
0x60A1:12, 8
RO
0x60A1:21, 1
RO
0x60A1:22, 1
RO
0x60A1:23, 1
RO
0x60A1:24, 1
RO
0x60A1:25, 1
RO
0x60A1:26, 1
RO
0x60A1:27, 1
RO
0x60A1:28, 1
RO
0x60A1:29, 1
RO
0x60A1:2A, 1
RO
0x0000:00, 22
RO
0x60A1:41, 32
RO
0x60A1:42, 32
RO
0x60A1:43, 32
RO
0x60A1:44, 32
RO
0x60A1:45, 32
RO
0x60A1:46, 32
RO
0x60A1:47, 32
RO
0x60A1:48, 32
RO
0x60A1:49, 32
RO
0x60A1:4A, 32
EL125x, EL2258
Version: 2.8
223
Commissioning
Index 1A11 MTI TxPDO-Map Inputs 5x Ch.3
Index (hex) Name
1A11:0
MTI TxPDO-Map Inputs 5x Ch.3
1A11:01 SubIndex 001
1A11:02 SubIndex 002
1A11:03 SubIndex 003
1A11:04 1A11:05
SubIndex 004 SubIndex 005
1A11:06 SubIndex 006
1A11:07 SubIndex 007
1A11:08 SubIndex 008
1A11:09 SubIndex 009
1A11:0A SubIndex 010
1A11:0B SubIndex 011
1A11:0C SubIndex 012
1A11:0D 1A11:0E
SubIndex 013 SubIndex 014
1A11:0F SubIndex 015
1A11:10 SubIndex 016
1A11:11 SubIndex 017
1A11:12 SubIndex 018
Meaning
PDO Mapping TxPDO 18
1. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x60A1:01, 8
RO
0x60A1:09, 1
RO
0x60A1:0A, 1
RO
0x0000:00, 4
RO
0x60A1:0F, 2
RO
0x60A1:11, 8
RO
0x60A1:12, 8
RO
0x60A1:21, 1
RO
0x60A1:22, 1
RO
0x60A1:23, 1
RO
0x60A1:24, 1
RO
0x60A1:25, 1
RO
0x0000:00, 27
RO
0x60A1:41, 32
RO
0x60A1:42, 32
RO
0x60A1:43, 32
RO
0x60A1:44, 32
RO
0x60A1:45, 32
Index 1A12 MTI TxPDO-Map Inputs 2x Ch.3
Index (hex) Name
1A12:0
MTI TxPDO-Map Inputs 2x Ch.3
1A12:01 SubIndex 001
1A12:02 SubIndex 002
1A12:03 SubIndex 003
1A12:04 1A12:05
SubIndex 004 SubIndex 005
1A12:06 SubIndex 006
1A12:07 SubIndex 007
1A12:08 SubIndex 008
1A12:09 SubIndex 009
1A12:0A 1A12:0B
SubIndex 010 SubIndex 011
1A12:0C SubIndex 012
Meaning PDO Mapping TxPDO 19
1. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x60A1:01, 8
RO
0x60A1:09, 1
RO
0x60A1:0A, 1
RO
0x0000:00, 4
RO
0x60A1:0F, 2
RO
0x60A1:11, 8
RO
0x60A1:12, 8
RO
0x60A1:21, 1
RO
0x60A1:22, 1
RO
0x0000:00, 30
RO
0x60A1:41, 32
RO
0x60A1:42, 32
224
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A13 MTI TxPDO-Map Inputs 1x Ch.3
Index (hex) Name
1A13:0
MTI TxPDO-Map Inputs 1x Ch.3
1A13:01 SubIndex 001
1A13:02 SubIndex 002
1A13:03 SubIndex 003
1A13:04 1A13:05
SubIndex 004 SubIndex 005
1A13:06 SubIndex 006
1A13:07 SubIndex 007
1A13:08 SubIndex 008
1A13:09 1A13:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 20
1. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x60A1 (MTI inputs Ch.3), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x60A1:01, 8
RO
0x60A1:09, 1
RO
0x60A1:0A, 1
RO
0x0000:00, 4
RO
0x60A1:0F, 2
RO
0x60A1:11, 8
RO
0x60A1:12, 8
RO
0x60A1:21, 1
RO
0x0000:00, 31
RO
0x60A1:41, 32
EL125x, EL2258
Version: 2.8
225
Commissioning
Index 1A14 MTI TxPDO-Map Inputs 10x Ch.4
Index (hex) Name
1A14:0
MTI TxPDO-Map Inputs 10x Ch.4
1A14:01 SubIndex 001
1A14:02 SubIndex 002
1A14:03 SubIndex 003
1A14:04 1A14:05
SubIndex 004 SubIndex 005
1A14:06 SubIndex 006
1A14:07 SubIndex 007
1A14:08 SubIndex 008
1A14:09 SubIndex 009
1A14:0A SubIndex 010
1A14:0B SubIndex 011
1A14:0C SubIndex 012
1A14:0D SubIndex 013
1A14:0E SubIndex 014
1A14:0F SubIndex 015
1A14:10 SubIndex 016
1A14:11 SubIndex 017
1A14:12 1A14:13
SubIndex 018 SubIndex 019
1A14:14 SubIndex 020
1A14:15 SubIndex 021
1A14:16 SubIndex 022
1A14:17 SubIndex 023
1A14:18 SubIndex 024
1A14:19 SubIndex 025
1A14:1A SubIndex 026
1A14:1B SubIndex 027
1A14:1C SubIndex 028
Meaning
PDO Mapping TxPDO 21
1. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x60B1:01, 8
RO
0x60B1:09, 1
RO
0x60B1:0A, 1
RO
0x0000:00, 4
RO
0x60B1:0F, 2
RO
0x60B1:11, 8
RO
0x60B1:12, 8
RO
0x60B1:21, 1
RO
0x60B1:22, 1
RO
0x60B1:23, 1
RO
0x60B1:24, 1
RO
0x60B1:25, 1
RO
0x60B1:26, 1
RO
0x60B1:27, 1
RO
0x60B1:28, 1
RO
0x60B1:29, 1
RO
0x60B1:2A, 1
RO
0x0000:00, 22
RO
0x60B1:41, 32
RO
0x60B1:42, 32
RO
0x60B1:43, 32
RO
0x60B1:44, 32
RO
0x60B1:45, 32
RO
0x60B1:46, 32
RO
0x60B1:47, 32
RO
0x60B1:48, 32
RO
0x60B1:49, 32
RO
0x60B1:4A, 32
226
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A15 MTI TxPDO-Map Inputs 5x Ch.4
Index (hex) Name
1A15:0
MTI TxPDO-Map Inputs 5x Ch.4
1A15:01 SubIndex 001
1A15:02 SubIndex 002
1A15:03 SubIndex 003
1A15:04 1A15:05
SubIndex 004 SubIndex 005
1A15:06 SubIndex 006
1A15:07 SubIndex 007
1A15:08 SubIndex 008
1A15:09 SubIndex 009
1A15:0A SubIndex 010
1A15:0B SubIndex 011
1A15:0C SubIndex 012
1A15:0D 1A15:0E
SubIndex 013 SubIndex 014
1A15:0F SubIndex 015
1A15:10 SubIndex 016
1A15:11 SubIndex 017
1A15:12 SubIndex 018
Meaning
PDO Mapping TxPDO 22
1. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x60B1:01, 8
RO
0x60B1:09, 1
RO
0x60B1:0A, 1
RO
0x0000:00, 4
RO
0x60B1:0F, 2
RO
0x60B1:11, 8
RO
0x60B1:12, 8
RO
0x60B1:21, 1
RO
0x60B1:22, 1
RO
0x60B1:23, 1
RO
0x60B1:24, 1
RO
0x60B1:25, 1
RO
0x0000:00, 27
RO
0x60B1:41, 32
RO
0x60B1:42, 32
RO
0x60B1:43, 32
RO
0x60B1:44, 32
RO
0x60B1:45, 32
Index 1A16 MTI TxPDO-Map Inputs 2x Ch.4
Index (hex) Name
1A16:0
MTI TxPDO-Map Inputs 2x Ch.4
1A16:01 SubIndex 001
1A16:02 SubIndex 002
1A16:03 SubIndex 003
1A16:04 1A16:05
SubIndex 004 SubIndex 005
1A16:06 SubIndex 006
1A16:07 SubIndex 007
1A16:08 SubIndex 008
1A16:09 SubIndex 009
1A16:0A 1A16:0B
SubIndex 010 SubIndex 011
1A16:0C SubIndex 012
Meaning PDO Mapping TxPDO 23
1. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x60B1:01, 8
RO
0x60B1:09, 1
RO
0x60B1:0A, 1
RO
0x0000:00, 4
RO
0x60B1:0F, 2
RO
0x60B1:11, 8
RO
0x60B1:12, 8
RO
0x60B1:21, 1
RO
0x60B1:22, 1
RO
0x0000:00, 30
RO
0x60B1:41, 32
RO
0x60B1:42, 32
EL125x, EL2258
Version: 2.8
227
Commissioning
Index 1A17 MTI TxPDO-Map Inputs 1x Ch.4
Index (hex) Name
1A17:0
MTI TxPDO-Map Inputs 1x Ch.4
1A17:01 SubIndex 001
1A17:02 SubIndex 002
1A17:03 SubIndex 003
1A17:04 1A17:05
SubIndex 004 SubIndex 005
1A17:06 SubIndex 006
1A17:07 SubIndex 007
1A17:08 SubIndex 008
1A17:09 1A17:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 24
1. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x60B1 (MTI inputs Ch.4), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x60B1:01, 8
RO
0x60B1:09, 1
RO
0x60B1:0A, 1
RO
0x0000:00, 4
RO
0x60B1:0F, 2
RO
0x60B1:11, 8
RO
0x60B1:12, 8
RO
0x60B1:21, 1
RO
0x0000:00, 31
RO
0x60B1:41, 32
228
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A18 MTI TxPDO-Map Inputs 10x Ch.5
Index (hex) Name
1A18:0
MTI TxPDO-Map Inputs 10x Ch.5
1A18:01 SubIndex 001
1A18:02 SubIndex 002
1A18:03 SubIndex 003
1A18:04 1A18:05
SubIndex 004 SubIndex 005
1A18:06 SubIndex 006
1A18:07 SubIndex 007
1A18:08 SubIndex 008
1A18:09 SubIndex 009
1A18:0A SubIndex 010
1A18:0B SubIndex 011
1A18:0C SubIndex 012
1A18:0D SubIndex 013
1A18:0E SubIndex 014
1A18:0F SubIndex 015
1A18:10 SubIndex 016
1A18:11 SubIndex 017
1A18:12 1A18:13
SubIndex 018 SubIndex 019
1A18:14 SubIndex 020
1A18:15 SubIndex 021
1A18:16 SubIndex 022
1A18:17 SubIndex 023
1A18:18 SubIndex 024
1A18:19 SubIndex 025
1A18:1A SubIndex 026
1A18:1B SubIndex 027
1A18:1C SubIndex 028
Meaning
PDO Mapping TxPDO 25
1. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x60C1:01, 8
RO
0x60C1:09, 1
RO
0x60C1:0A, 1
RO
0x0000:00, 4
RO
0x60C1:0F, 2
RO
0x60C1:11, 8
RO
0x60C1:12, 8
RO
0x60C1:21, 1
RO
0x60C1:22, 1
RO
0x60C1:23, 1
RO
0x60C1:24, 1
RO
0x60C1:25, 1
RO
0x60C1:26, 1
RO
0x60C1:27, 1
RO
0x60C1:28, 1
RO
0x60C1:29, 1
RO
0x60C1:2A, 1
RO
0x0000:00, 22
RO
0x60C1:41, 32
RO
0x60C1:42, 32
RO
0x60C1:43, 32
RO
0x60C1:44, 32
RO
0x60C1:45, 32
RO
0x60C1:46, 32
RO
0x60C1:47, 32
RO
0x60C1:48, 32
RO
0x60C1:49, 32
RO
0x60C1:4A, 32
EL125x, EL2258
Version: 2.8
229
Commissioning
Index 1A19 MTI TxPDO-Map Inputs 5x Ch.5
Index (hex) Name
1A19:0
MTI TxPDO-Map Inputs 5x Ch.5
1A19:01 SubIndex 001
1A19:02 SubIndex 002
1A19:03 SubIndex 003
1A19:04 1A19:05
SubIndex 004 SubIndex 005
1A19:06 SubIndex 006
1A19:07 SubIndex 007
1A19:08 SubIndex 008
1A19:09 SubIndex 009
1A19:0A SubIndex 010
1A19:0B SubIndex 011
1A19:0C SubIndex 012
1A19:0D 1A19:0E
SubIndex 013 SubIndex 014
1A19:0F SubIndex 015
1A19:10 SubIndex 016
1A19:11 SubIndex 017
1A19:12 SubIndex 018
Meaning
PDO Mapping TxPDO 26
1. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x60C1:01, 8
RO
0x60C1:09, 1
RO
0x60C1:0A, 1
RO
0x0000:00, 4
RO
0x60C1:0F, 2
RO
0x60C1:11, 8
RO
0x60C1:12, 8
RO
0x60C1:21, 1
RO
0x60C1:22, 1
RO
0x60C1:23, 1
RO
0x60C1:24, 1
RO
0x60C1:25, 1
RO
0x0000:00, 27
RO
0x60C1:41, 32
RO
0x60C1:42, 32
RO
0x60C1:43, 32
RO
0x60C1:44, 32
RO
0x60C1:45, 32
Index 1A1A MTI TxPDO-Map Inputs 2x Ch.5
Index (hex) Name
1A1A:0
MTI TxPDO-Map Inputs 2x Ch.5
1A1A:01 SubIndex 001
1A1A:02 SubIndex 002
1A1A:03 SubIndex 003
1A1A:04 1A1A:05
SubIndex 004 SubIndex 005
1A1A:06 SubIndex 006
1A1A:07 SubIndex 007
1A1A:08 SubIndex 008
1A1A:09 SubIndex 009
1A1A:0A 1A1A:0B
SubIndex 010 SubIndex 011
1A1A:0C SubIndex 012
Meaning PDO Mapping TxPDO 27
1. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x60C1:01, 8
RO
0x60C1:09, 1
RO
0x60C1:0A, 1
RO
0x0000:00, 4
RO
0x60C1:0F, 2
RO
0x60C1:11, 8
RO
0x60C1:12, 8
RO
0x60C1:21, 1
RO
0x60C1:22, 1
RO
0x0000:00, 30
RO
0x60C1:41, 32
RO
0x60C1:42, 32
230
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A1B MTI TxPDO-Map Inputs 1x Ch.5
Index (hex) Name
1A1B:0
MTI TxPDO-Map Inputs 1x Ch.5
1A1B:01 SubIndex 001
1A1B:02 SubIndex 002
1A1B:03 SubIndex 003
1A1B:04 1A1B:05
SubIndex 004 SubIndex 005
1A1B:06 SubIndex 006
1A1B:07 SubIndex 007
1A1B:08 SubIndex 008
1A1B:09 1A1B:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 28
1. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x60C1 (MTI inputs Ch.5), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x60C1:01, 8
RO
0x60C1:09, 1
RO
0x60C1:0A, 1
RO
0x0000:00, 4
RO
0x60C1:0F, 2
RO
0x60C1:11, 8
RO
0x60C1:12, 8
RO
0x60C1:21, 1
RO
0x0000:00, 31
RO
0x60C1:41, 32
EL125x, EL2258
Version: 2.8
231
Commissioning
Index 1A1C MTI TxPDO-Map Inputs 10x Ch.6
Index (hex) Name
1A1C:0
MTI TxPDO-Map Inputs 10x Ch.6
1A1C:01 SubIndex 001
1A1C:02 SubIndex 002
1A1C:03 SubIndex 003
1A1C:04 1A1C:05
SubIndex 004 SubIndex 005
1A1C:06 SubIndex 006
1A1C:07 SubIndex 007
1A1C:08 SubIndex 008
1A1C:09 SubIndex 009
1A1C:0A SubIndex 010
1A1C:0B SubIndex 011
1A1C:0C SubIndex 012
1A1C:0D SubIndex 013
1A1C:0E SubIndex 014
1A1C:0F SubIndex 015
1A1C:10 SubIndex 016
1A1C:11 SubIndex 017
1A1C:12 1A1C:13
SubIndex 018 SubIndex 019
1A1C:14 SubIndex 020
1A1C:15 SubIndex 021
1A1C:16 SubIndex 022
1A1C:17 SubIndex 023
1A1C:18 SubIndex 024
1A1C:19 SubIndex 025
1A1C:1A SubIndex 026
1A1C:1B SubIndex 027
1A1C:1C SubIndex 028
Meaning
PDO Mapping TxPDO 29
1. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x60D1:01, 8
RO
0x60D1:09, 1
RO
0x60D1:0A, 1
RO
0x0000:00, 4
RO
0x60D1:0F, 2
RO
0x60D1:11, 8
RO
0x60D1:12, 8
RO
0x60D1:21, 1
RO
0x60D1:22, 1
RO
0x60D1:23, 1
RO
0x60D1:24, 1
RO
0x60D1:25, 1
RO
0x60D1:26, 1
RO
0x60D1:27, 1
RO
0x60D1:28, 1
RO
0x60D1:29, 1
RO
0x60D1:2A, 1
RO
0x0000:00, 22
RO
0x60D1:41, 32
RO
0x60D1:42, 32
RO
0x60D1:43, 32
RO
0x60D1:44, 32
RO
0x60D1:45, 32
RO
0x60D1:46, 32
RO
0x60D1:47, 32
RO
0x60D1:48, 32
RO
0x60D1:49, 32
RO
0x60D1:4A, 32
232
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A1D MTI TxPDO-Map Inputs 5x Ch.6
Index (hex) Name
1A1D:0
MTI TxPDO-Map Inputs 5x Ch.6
1A1D:01 SubIndex 001
1A1D:02 SubIndex 002
1A1D:03 SubIndex 003
1A1D:04 1A1D:05
SubIndex 004 SubIndex 005
1A1D:06 SubIndex 006
1A1D:07 SubIndex 007
1A1D:08 SubIndex 008
1A1D:09 SubIndex 009
1A1D:0A SubIndex 010
1A1D:0B SubIndex 011
1A1D:0C SubIndex 012
1A1D:0D 1A1D:0E
SubIndex 013 SubIndex 014
1A1D:0F SubIndex 015
1A1D:10 SubIndex 016
1A1D:11 SubIndex 017
1A1D:12 SubIndex 018
Meaning
PDO Mapping TxPDO 30
1. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x60D1:01, 8
RO
0x60D1:09, 1
RO
0x60D1:0A, 1
RO
0x0000:00, 4
RO
0x60D1:0F, 2
RO
0x60D1:11, 8
RO
0x60D1:12, 8
RO
0x60D1:21, 1
RO
0x60D1:22, 1
RO
0x60D1:23, 1
RO
0x60D1:24, 1
RO
0x60D1:25, 1
RO
0x0000:00, 27
RO
0x60D1:41, 32
RO
0x60D1:42, 32
RO
0x60D1:43, 32
RO
0x60D1:44, 32
RO
0x60D1:45, 32
Index 1A1E MTI TxPDO-Map Inputs 2x Ch.6
Index (hex) Name
1A1E:0
MTI TxPDO-Map Inputs 2x Ch.6
1A1E:01 SubIndex 001
1A1E:02 SubIndex 002
1A1E:03 SubIndex 003
1A1E:04 1A1E:05
SubIndex 004 SubIndex 005
1A1E:06 SubIndex 006
1A1E:07 SubIndex 007
1A1E:08 SubIndex 008
1A1E:09 SubIndex 009
1A1E:0A 1A1E:0B
SubIndex 010 SubIndex 011
1A1E:0C SubIndex 012
Meaning PDO Mapping TxPDO 31
1. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x60D1:01, 8
RO
0x60D1:09, 1
RO
0x60D1:0A, 1
RO
0x0000:00, 4
RO
0x60D1:0F, 2
RO
0x60D1:11, 8
RO
0x60D1:12, 8
RO
0x60D1:21, 1
RO
0x60D1:22, 1
RO
0x0000:00, 30
RO
0x60D1:41, 32
RO
0x60D1:42, 32
EL125x, EL2258
Version: 2.8
233
Commissioning
Index 1A1F MTI TxPDO-Map Inputs 1x Ch.6
Index (hex) Name
1A1F:0
MTI TxPDO-Map Inputs 1x Ch.6
1A1F:01 SubIndex 001
1A1F:02 SubIndex 002
1A1F:03 SubIndex 003
1A1F:04 1A1F:05
SubIndex 004 SubIndex 005
1A1F:06 SubIndex 006
1A1F:07 SubIndex 007
1A1F:08 SubIndex 008
1A1F:09 1A1F:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 32
1. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x60D1 (MTI inputs Ch.6), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x60D1:01, 8
RO
0x60D1:09, 1
RO
0x60D1:0A, 1
RO
0x0000:00, 4
RO
0x60D1:0F, 2
RO
0x60D1:11, 8
RO
0x60D1:12, 8
RO
0x60D1:21, 1
RO
0x0000:00, 31
RO
0x60D1:41, 32
234
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A20 MTI TxPDO-Map Inputs 10x Ch.7
Index (hex) Name
1A20:0
MTI TxPDO-Map Inputs 10x Ch.7
1A20:01 SubIndex 001
1A20:02 SubIndex 002
1A20:03 SubIndex 003
1A20:04 1A20:05
SubIndex 004 SubIndex 005
1A20:06 SubIndex 006
1A20:07 SubIndex 007
1A20:08 SubIndex 008
1A20:09 SubIndex 009
1A20:0A SubIndex 010
1A20:0B SubIndex 011
1A20:0C SubIndex 012
1A20:0D SubIndex 013
1A20:0E SubIndex 014
1A20:0F SubIndex 015
1A20:10 SubIndex 016
1A20:11 SubIndex 017
1A20:12 1A20:13
SubIndex 018 SubIndex 019
1A20:14 SubIndex 020
1A20:15 SubIndex 021
1A20:16 SubIndex 022
1A20:17 SubIndex 023
1A20:18 SubIndex 024
1A20:19 SubIndex 025
1A20:1A SubIndex 026
1A20:1B SubIndex 027
1A20:1C SubIndex 028
Meaning
PDO Mapping TxPDO 33
1. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x60E1:01, 8
RO
0x60E1:09, 1
RO
0x60E1:0A, 1
RO
0x0000:00, 4
RO
0x60E1:0F, 2
RO
0x60E1:11, 8
RO
0x60E1:12, 8
RO
0x60E1:21, 1
RO
0x60E1:22, 1
RO
0x60E1:23, 1
RO
0x60E1:24, 1
RO
0x60E1:25, 1
RO
0x60E1:26, 1
RO
0x60E1:27, 1
RO
0x60E1:28, 1
RO
0x60E1:29, 1
RO
0x60E1:2A, 1
RO
0x0000:00, 22
RO
0x60E1:41, 32
RO
0x60E1:42, 32
RO
0x60E1:43, 32
RO
0x60E1:44, 32
RO
0x60E1:45, 32
RO
0x60E1:46, 32
RO
0x60E1:47, 32
RO
0x60E1:48, 32
RO
0x60E1:49, 32
RO
0x60E1:4A, 32
EL125x, EL2258
Version: 2.8
235
Commissioning
Index 1A21 MTI TxPDO-Map Inputs 5x Ch.7
Index (hex) Name
1A21:0
MTI TxPDO-Map Inputs 5x Ch.7
1A21:01 SubIndex 001
1A21:02 SubIndex 002
1A21:03 SubIndex 003
1A21:04 1A21:05
SubIndex 004 SubIndex 005
1A21:06 SubIndex 006
1A21:07 SubIndex 007
1A21:08 SubIndex 008
1A21:09 SubIndex 009
1A21:0A SubIndex 010
1A21:0B SubIndex 011
1A21:0C SubIndex 012
1A21:0D 1A21:0E
SubIndex 013 SubIndex 014
1A21:0F SubIndex 015
1A21:10 SubIndex 016
1A21:11 SubIndex 017
1A21:12 SubIndex 018
Meaning
PDO Mapping TxPDO 34
1. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x60E1:01, 8
RO
0x60E1:09, 1
RO
0x60E1:0A, 1
RO
0x0000:00, 4
RO
0x60E1:0F, 2
RO
0x60E1:11, 8
RO
0x60E1:12, 8
RO
0x60E1:21, 1
RO
0x60E1:22, 1
RO
0x60E1:23, 1
RO
0x60E1:24, 1
RO
0x60E1:25, 1
RO
0x0000:00, 27
RO
0x60E1:41, 32
RO
0x60E1:42, 32
RO
0x60E1:43, 32
RO
0x60E1:44, 32
RO
0x60E1:45, 32
Index 1A22 MTI TxPDO-Map Inputs 2x Ch.7
Index (hex) Name
1A22:0
MTI TxPDO-Map Inputs 2x Ch.7
1A22:01 SubIndex 001
1A22:02 SubIndex 002
1A22:03 SubIndex 003
1A22:04 1A22:05
SubIndex 004 SubIndex 005
1A22:06 SubIndex 006
1A22:07 SubIndex 007
1A22:08 SubIndex 008
1A22:09 SubIndex 009
1A22:0A 1A22:0B
SubIndex 010 SubIndex 011
1A22:0C SubIndex 012
Meaning PDO Mapping TxPDO 35
1. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x60E1:01, 8
RO
0x60E1:09, 1
RO
0x60E1:0A, 1
RO
0x0000:00, 4
RO
0x60E1:0F, 2
RO
0x60E1:11, 8
RO
0x60E1:12, 8
RO
0x60E1:21, 1
RO
0x60E1:22, 1
RO
0x0000:00, 30
RO
0x60E1:41, 32
RO
0x60E1:42, 32
236
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A23 MTI TxPDO-Map Inputs 1x Ch.7
Index (hex) Name
1A23:0
MTI TxPDO-Map Inputs 1x Ch.7
1A23:01 SubIndex 001
1A23:02 SubIndex 002
1A23:03 SubIndex 003
1A23:04 1A23:05
SubIndex 004 SubIndex 005
1A23:06 SubIndex 006
1A23:07 SubIndex 007
1A23:08 SubIndex 008
1A23:09 1A23:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 36
1. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x60E1 (MTI inputs Ch.7), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x60E1:01, 8
RO
0x60E1:09, 1
RO
0x60E1:0A, 1
RO
0x0000:00, 4
RO
0x60E1:0F, 2
RO
0x60E1:11, 8
RO
0x60E1:12, 8
RO
0x60E1:21, 1
RO
0x0000:00, 31
RO
0x60E1:41, 32
EL125x, EL2258
Version: 2.8
237
Commissioning
Index 1A24 MTI TxPDO-Map Inputs 10x Ch.8
Index (hex) Name
1A24:0
MTI TxPDO-Map Inputs 10x Ch.8
1A24:01 SubIndex 001
1A24:02 SubIndex 002
1A24:03 SubIndex 003
1A24:04 1A24:05
SubIndex 004 SubIndex 005
1A24:06 SubIndex 006
1A24:07 SubIndex 007
1A24:08 SubIndex 008
1A24:09 SubIndex 009
1A24:0A SubIndex 010
1A24:0B SubIndex 011
1A24:0C SubIndex 012
1A24:0D SubIndex 013
1A24:0E SubIndex 014
1A24:0F SubIndex 015
1A24:10 SubIndex 016
1A24:11 SubIndex 017
1A24:12 1A24:13
SubIndex 018 SubIndex 019
1A24:14 SubIndex 020
1A24:15 SubIndex 021
1A24:16 SubIndex 022
1A24:17 SubIndex 023
1A24:18 SubIndex 024
1A24:19 SubIndex 025
1A24:1A SubIndex 026
1A24:1B SubIndex 027
1A24:1C SubIndex 028
Meaning
PDO Mapping TxPDO 37
1. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x25 (Input event state 5))
13. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x26 (Input event state 6))
14. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x27 (Input event state 7))
15. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x28 (Input event state 8))
16. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x29 (Input event state 9))
17. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x2A (Input event state 10))
18. PDO Mapping entry (22 bits align)
19. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x41 (Input event time 1))
20. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x42 (Input event time 2))
21. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x43 (Input event time 3))
22. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x44 (Input event time 4))
23. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x45 (Input event time 5))
24. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x46 (Input event time 6))
25. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x47 (Input event time 7))
26. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x48 (Input event time 8))
27. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x49 (Input event time 9))
28. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x4A (Input event time 10))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1C (28dec)
RO
0x60F1:01, 8
RO
0x60F1:09, 1
RO
0x60F1:0A, 1
RO
0x0000:00, 4
RO
0x60F1:0F, 2
RO
0x60F1:11, 8
RO
0x60F1:12, 8
RO
0x60F1:21, 1
RO
0x60F1:22, 1
RO
0x60F1:23, 1
RO
0x60F1:24, 1
RO
0x60F1:25, 1
RO
0x60F1:26, 1
RO
0x60F1:27, 1
RO
0x60F1:28, 1
RO
0x60F1:29, 1
RO
0x60F1:2A, 1
RO
0x0000:00, 22
RO
0x60F1:41, 32
RO
0x60F1:42, 32
RO
0x60F1:43, 32
RO
0x60F1:44, 32
RO
0x60F1:45, 32
RO
0x60F1:46, 32
RO
0x60F1:47, 32
RO
0x60F1:48, 32
RO
0x60F1:49, 32
RO
0x60F1:4A, 32
238
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A25 MTI TxPDO-Map Inputs 5x Ch.8
Index (hex) Name
1A25:0
MTI TxPDO-Map Inputs 5x Ch.8
1A25:01 SubIndex 001
1A25:02 SubIndex 002
1A25:03 SubIndex 003
1A25:04 1A25:05
SubIndex 004 SubIndex 005
1A25:06 SubIndex 006
1A25:07 SubIndex 007
1A25:08 SubIndex 008
1A25:09 SubIndex 009
1A25:0A SubIndex 010
1A25:0B SubIndex 011
1A25:0C SubIndex 012
1A25:0D 1A25:0E
SubIndex 013 SubIndex 014
1A25:0F SubIndex 015
1A25:10 SubIndex 016
1A25:11 SubIndex 017
1A25:12 SubIndex 018
Meaning
PDO Mapping TxPDO 38
1. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x01 (No of input events))
2. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x09 (Input state))
3. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x0A (Input buffer overflow))
4. PDO Mapping entry (4 bits align)
5. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x0F (Input cycle counter))
6. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x11 (Events in input buffer))
7. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x12 (Input order feedback))
8. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x21 (Input event state 1))
9. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x22 (Input event state 2))
10. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x23 (Input event state 3))
11. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x24 (Input event state 4))
12. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x25 (Input event state 5))
13. PDO Mapping entry (27 bits align)
14. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x41 (Input event time 1))
15. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x42 (Input event time 2))
16. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x43 (Input event time 3))
17. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x44 (Input event time 4))
18. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x45 (Input event time 5))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x12 (18dec)
RO
0x60F1:01, 8
RO
0x60F1:09, 1
RO
0x60F1:0A, 1
RO
0x0000:00, 4
RO
0x60F1:0F, 2
RO
0x60F1:11, 8
RO
0x60F1:12, 8
RO
0x60F1:21, 1
RO
0x60F1:22, 1
RO
0x60F1:23, 1
RO
0x60F1:24, 1
RO
0x60F1:25, 1
RO
0x0000:00, 27
RO
0x60F1:41, 32
RO
0x60F1:42, 32
RO
0x60F1:43, 32
RO
0x60F1:44, 32
RO
0x60F1:45, 32
Index 1A26 MTI TxPDO-Map Inputs 2x Ch.8
Index (hex) Name
1A26:0
MTI TxPDO-Map Inputs 2x Ch.8
1A26:01 SubIndex 001
1A26:02 SubIndex 002
1A26:03 SubIndex 003
1A26:04 1A26:05
SubIndex 004 SubIndex 005
1A26:06 SubIndex 006
1A26:07 SubIndex 007
1A26:08 SubIndex 008
1A26:09 SubIndex 009
1A26:0A 1A26:0B
SubIndex 010 SubIndex 011
1A26:0C SubIndex 012
Meaning PDO Mapping TxPDO 39
1. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x22 (Input event state 2)) 10. PDO Mapping entry (30 bits align) 11. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x41 (Input event time 1)) 12. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x42 (Input event time 2))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0C (12dec)
RO
0x60F1:01, 8
RO
0x60F1:09, 1
RO
0x60F1:0A, 1
RO
0x0000:00, 4
RO
0x60F1:0F, 2
RO
0x60F1:11, 8
RO
0x60F1:12, 8
RO
0x60F1:21, 1
RO
0x60F1:22, 1
RO
0x0000:00, 30
RO
0x60F1:41, 32
RO
0x60F1:42, 32
EL125x, EL2258
Version: 2.8
239
Commissioning
Index 1A27 MTI TxPDO-Map Inputs 1x Ch.8
Index (hex) Name
1A27:0
MTI TxPDO-Map Inputs 1x Ch.8
1A27:01 SubIndex 001
1A27:02 SubIndex 002
1A27:03 SubIndex 003
1A27:04 1A27:05
SubIndex 004 SubIndex 005
1A27:06 SubIndex 006
1A27:07 SubIndex 007
1A27:08 SubIndex 008
1A27:09 1A27:0A
SubIndex 009 SubIndex 010
Meaning PDO Mapping TxPDO 40
1. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x01 (No of input events)) 2. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x09 (Input state)) 3. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x0A (Input buffer overflow)) 4. PDO Mapping entry (4 bits align) 5. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x11 (Events in input buffer)) 7. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x12 (Input order feedback)) 8. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x21 (Input event state 1)) 9. PDO Mapping entry (31 bits align) 10. PDO Mapping entry (object 0x60F1 (MTI inputs Ch.8), entry 0x41 (Input event time 1))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0A (10dec)
RO
0x60F1:01, 8
RO
0x60F1:09, 1
RO
0x60F1:0A, 1
RO
0x0000:00, 4
RO
0x60F1:0F, 2
RO
0x60F1:11, 8
RO
0x60F1:12, 8
RO
0x60F1:21, 1
RO
0x0000:00, 31
RO
0x60F1:41, 32
Index 1A28 TSO TxPDO-Map Inputs Ch.1
Index (hex) Name
1A28:0
TSO TxPDO-Map Inputs Ch.1
1A28:01 SubIndex 001
1A28:02 SubIndex 002
Meaning PDO Mapping TxPDO 41
1. PDO Mapping entry (object 0x6100 (TSO Inputs Ch.1), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6100:01, 1
RO
0x0000:00, 31
Index 1A29 TSO TxPDO-Map Inputs Ch.2
Index (hex) Name
1A29:0
TSO TxPDO-Map Inputs Ch.2
1A29:01 SubIndex 001
1A29:02 SubIndex 002
Meaning PDO Mapping TxPDO 42
1. PDO Mapping entry (object 0x6110 (TSO Inputs Ch.2), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6110:01, 1
RO
0x0000:00, 31
Index 1A2A TSO TxPDO-Map Inputs Ch.3
Index (hex) Name
1A2A:0
TSO TxPDO-Map Inputs Ch.3
1A2A:01 SubIndex 001
1A2A:02 SubIndex 002
Meaning PDO Mapping TxPDO 43
1. PDO Mapping entry (object 0x6120 (TSO Inputs Ch.3), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6120:01, 1
RO
0x0000:00, 31
Index 1A2B TSO TxPDO-Map Inputs Ch.4
Index (hex) Name
1A2B:0
TSO TxPDO-Map Inputs Ch.4
1A2B:01 SubIndex 001
1A2B:02 SubIndex 002
Meaning PDO Mapping TxPDO 44
1. PDO Mapping entry (object 0x6130 (TSO Inputs Ch.4), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6130:01, 1
RO
0x0000:00, 31
240
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A2C TSO TxPDO-Map Inputs Ch.5
Index (hex) Name
1A2C:0
TSO TxPDO-Map Inputs Ch.5
1A2C:01 SubIndex 001
1A2C:02 SubIndex 002
Meaning PDO Mapping TxPDO 45
1. PDO Mapping entry (object 0x6140 (TSO Inputs Ch.5), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6140:01, 1
RO
0x0000:00, 31
Index 1A2D TSO TxPDO-Map Inputs Ch.6
Index (hex) Name
1A2D:0
TSO TxPDO-Map Inputs Ch.6
1A2D:01 SubIndex 001
1A2D:02 SubIndex 002
Meaning PDO Mapping TxPDO 46
1. PDO Mapping entry (object 0x6150 (TSO Inputs Ch.6), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6150:01, 1
RO
0x0000:00, 31
Index 1A2E TSO TxPDO-Map Inputs Ch.7
Index (hex) Name
1A2E:0
TSO TxPDO-Map Inputs Ch.7
1A2E:01 SubIndex 001
1A2E:02 SubIndex 002
Meaning PDO Mapping TxPDO 47
1. PDO Mapping entry (object 0x6160 (TSO Inputs Ch.7), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6160:01, 1
RO
0x0000:00, 31
Index 1A2F TSO TxPDO-Map Inputs Ch.8
Index (hex) Name
1A2F:0
TSO TxPDO-Map Inputs Ch.8
1A2F:01 SubIndex 001
1A2F:02 SubIndex 002
Meaning PDO Mapping TxPDO 48
1. PDO Mapping entry (object 0x6170 (TSO Inputs Ch.8), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6170:01, 1
RO
0x0000:00, 31
Index 1A30 TSI TxPDO-Map Inputs Ch.1
Index (hex) Name
1A30:0
TSI TxPDO-Map Inputs Ch.1
1A30:01 SubIndex 001
1A30:02 1A30:03
SubIndex 002 SubIndex 003
1A30:04 1A30:05
SubIndex 004 SubIndex 005
1A30:06 SubIndex 006
Meaning PDO Mapping TxPDO 49
1. PDO Mapping entry (object 0x6180 (TSI Inputs Ch.1), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x6180 (TSI Inputs Ch.1), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x6180 (TSI Inputs Ch.1), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x6180 (TSI Inputs Ch.1), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x6180:01, 1
RO
0x0000:00, 7
RO
0x6180:09, 8
RO
0x0000:00, 48
RO
0x6180:41, 64
RO
0x6180:42, 64
EL125x, EL2258
Version: 2.8
241
Commissioning
Index 1A31 TSI TxPDO-Map Inputs Ch.2
Index (hex) Name
1A31:0
TSI TxPDO-Map Inputs Ch.2
1A31:01 SubIndex 001
1A31:02 1A31:03
SubIndex 002 SubIndex 003
1A31:04 1A31:05
SubIndex 004 SubIndex 005
1A31:06 SubIndex 006
Meaning PDO Mapping TxPDO 50
1. PDO Mapping entry (object 0x6190 (TSI Inputs Ch.2), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x6190 (TSI Inputs Ch.2), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x6190 (TSI Inputs Ch.2), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x6190 (TSI Inputs Ch.2), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x6190:01, 1
RO
0x0000:00, 7
RO
0x6190:09, 8
RO
0x0000:00, 48
RO
0x6190:41, 64
RO
0x6190:42, 64
Index 1A32 TSI TxPDO-Map Inputs Ch.3
Index (hex) Name
1A32:0
TSI TxPDO-Map Inputs Ch.3
1A32:01 SubIndex 001
1A32:02 1A32:03
SubIndex 002 SubIndex 003
1A32:04 1A32:05
SubIndex 004 SubIndex 005
1A32:06 SubIndex 006
Meaning PDO Mapping TxPDO 51
1. PDO Mapping entry (object 0x61A0 (TSI Inputs Ch.3), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x61A0 (TSI Inputs Ch.3), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x61A0 (TSI Inputs Ch.3), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x61A0 (TSI Inputs Ch.3), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x61A0:01, 1
RO
0x0000:00, 7
RO
0x61A0:09, 8
RO
0x0000:00, 48
RO
0x61A0:41, 64
RO
0x61A0:42, 64
Index 1A33 TSI TxPDO-Map Inputs Ch.4
Index (hex) Name
1A33:0
TSI TxPDO-Map Inputs Ch.4
1A33:01 SubIndex 001
1A33:02 1A33:03
SubIndex 002 SubIndex 003
1A33:04 1A33:05
SubIndex 004 SubIndex 005
1A33:06 SubIndex 006
Meaning PDO Mapping TxPDO 52
1. PDO Mapping entry (object 0x61B0 (TSI Inputs Ch.4), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x61B0 (TSI Inputs Ch.4), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x61B0 (TSI Inputs Ch.4), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x61B0 (TSI Inputs Ch.4), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x61B0:01, 1
RO
0x0000:00, 7
RO
0x61B0:09, 8
RO
0x0000:00, 48
RO
0x61B0:41, 64
RO
0x61B0:42, 64
Index 1A34 TSI TxPDO-Map Inputs Ch.5
Index (hex) Name
1A34:0
TSI TxPDO-Map Inputs Ch.5
1A34:01 SubIndex 001
1A34:02 1A34:03
SubIndex 002 SubIndex 003
1A34:04 1A34:05
SubIndex 004 SubIndex 005
1A34:06 SubIndex 006
Meaning PDO Mapping TxPDO 53
1. PDO Mapping entry (object 0x61C0 (TSI Inputs Ch.5), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x61C0 (TSI Inputs Ch.5), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x61C0 (TSI Inputs Ch.5), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x61C0 (TSI Inputs Ch.5), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x61C0:01, 1
RO
0x0000:00, 7
RO
0x61C0:09, 8
RO
0x0000:00, 48
RO
0x61C0:41, 64
RO
0x61C0:42, 64
242
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A35 TSI TxPDO-Map Inputs Ch.6
Index (hex) Name
1A35:0
TSI TxPDO-Map Inputs Ch.6
1A35:01 SubIndex 001
1A35:02 1A35:03
SubIndex 002 SubIndex 003
1A35:04 1A35:05
SubIndex 004 SubIndex 005
1A35:06 SubIndex 006
Meaning PDO Mapping TxPDO 54
1. PDO Mapping entry (object 0x61D0 (TSI Inputs Ch.6), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x61D0 (TSI Inputs Ch.6), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x61D0 (TSI Inputs Ch.6), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x61D0 (TSI Inputs Ch.6), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x61D0:01, 1
RO
0x0000:00, 7
RO
0x61D0:09, 8
RO
0x0000:00, 48
RO
0x61D0:41, 64
RO
0x61D0:42, 64
Index 1A36 TSI TxPDO-Map Inputs Ch.7
Index (hex) Name
1A36:0
TSI TxPDO-Map Inputs Ch.7
1A36:01 SubIndex 001
1A36:02 1A36:03
SubIndex 002 SubIndex 003
1A36:04 1A36:05
SubIndex 004 SubIndex 005
1A36:06 SubIndex 006
Meaning PDO Mapping TxPDO 55
1. PDO Mapping entry (object 0x61E0 (TSI Inputs Ch.7), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x61E0 (TSI Inputs Ch.7), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x61E0 (TSI Inputs Ch.7), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x61E0 (TSI Inputs Ch.7), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x61E0:01, 1
RO
0x0000:00, 7
RO
0x61E0:09, 8
RO
0x0000:00, 48
RO
0x61E0:41, 64
RO
0x61E0:42, 64
Index 1A37 TSI TxPDO-Map Inputs Ch.8
Index (hex) Name
1A37:0
TSI TxPDO-Map Inputs Ch.8
1A37:01 SubIndex 001
1A37:02 1A37:03
SubIndex 002 SubIndex 003
1A37:04 1A37:05
SubIndex 004 SubIndex 005
1A37:06 SubIndex 006
Meaning PDO Mapping TxPDO 56
1. PDO Mapping entry (object 0x61F0 (TSI Inputs Ch.8), entry 0x01 (Input)) 2. PDO Mapping entry (7 bits align) 3. PDO Mapping entry (object 0x61F0 (TSI Inputs Ch.8), entry 0x09 (Status)) 4. PDO Mapping entry (48 bits align) 5. PDO Mapping entry (object 0x61F0 (TSI Inputs Ch.8), entry 0x41 (LatchPos)) 6. PDO Mapping entry (object 0x61F0 (TSI Inputs Ch.8), entry 0x42 (LatchNeg))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
UINT32
Flags RO
Default 0x06 (6dec)
RO
0x61F0:01, 1
RO
0x0000:00, 7
RO
0x61F0:09, 8
RO
0x0000:00, 48
RO
0x61F0:41, 64
RO
0x61F0:42, 64
Index 1A38 DEV TxPDO-Map Inputs Device
Index (hex) Name
1A38:0
DEV TxPDO-Map Inputs Device
1A38:01 SubIndex 001
1A38:02 SubIndex 002
1A38:03 SubIndex 003
1A38:04 SubIndex 004
1A38:05 1A38:06
SubIndex 005 SubIndex 006
Meaning PDO Mapping TxPDO 57
1. PDO Mapping entry (1 bits align) 2. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x02 (Undervoltage Up)) 3. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x03 (Overtemperature)) 4. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x04 (Checksum error)) 5. PDO Mapping entry (60 bits align) 6. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x21 (SysTime))
Data type UINT8
UINT32 UINT32
UINT32
UINT32
UINT32 UINT32
Flags RO
Default 0x06 (6dec)
RO
0x0000:00, 1
RO
0xF611:02, 1
RO
0xF611:03, 1
RO
0xF611:04, 1
RO
0x0000:00, 60
RO
0xF611:21, 64
EL125x, EL2258
Version: 2.8
243
Commissioning
Index 1C00 Sync manager type
Index (hex) Name
1C00:0
Sync manager type
1C00:01 SubIndex 001
1C00:02 SubIndex 002
1C00:03 SubIndex 003
1C00:04 SubIndex 004
Meaning Using the sync managers Sync-Manager Type Channel 1: Mailbox Write Sync-Manager Type Channel 2: Mailbox Read Sync-Manager Type Channel 3: Process Data Write (Outputs) Sync-Manager Type Channel 4: Process Data Read (Inputs)
Data type UINT8 UINT8 UINT8 UINT8
UINT8
Flags RO RO RO RO
Default 0x04 (4dec) 0x01 (1dec) 0x02 (2dec) 0x03 (3dec)
RO
0x04 (4dec)
244
Version: 2.8
EL125x, EL2258
Commissioning
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0
RxPDO assign
1C12:01 SubIndex 001
1C12:02 SubIndex 002
1C12:03 SubIndex 003
1C12:04 SubIndex 004
1C12:05 SubIndex 005
1C12:06 SubIndex 006
1C12:07 SubIndex 007
1C12:08 SubIndex 008
1C12:09 SubIndex 009
1C12:0A SubIndex 010
1C12:0B SubIndex 011
1C12:0C SubIndex 012
1C12:0D SubIndex 013
1C12:0E SubIndex 014
1C12:0F SubIndex 015
1C12:10 SubIndex 016
1C12:11 SubIndex 017
1C12:12 SubIndex 018
1C12:13 SubIndex 019
1C12:14 SubIndex 020
1C12:15 SubIndex 021
1C12:16 SubIndex 022
1C12:17 SubIndex 023
1C12:18 SubIndex 024
1C12:19 SubIndex 025
1C12:1A SubIndex 026
1C12:1B SubIndex 027
Meaning
Data type
PDO Assign Outputs
UINT8
1. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
2. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
3. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
4. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
5. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
6. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
7. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
8. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
9. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
10. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
11. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
12. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
13. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
14. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
15. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
16. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
17. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
18. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
19. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
20. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
21. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
22. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
23. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
24. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
25. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
26. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
27. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
Flags RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW
Default
0x10 (16dec)
0x1600 (5632dec)
0x1604 (5636dec)
0x1608 (5640dec)
0x160C (5644dec)
0x1610 (5648dec)
0x1614 (5652dec)
0x1618 (5656dec)
0x161C (5660dec)
0x1620 (5664dec)
0x1621 (5665dec)
0x1622 (5666dec)
0x1623 (5667dec)
0x1624 (5668dec)
0x1625 (5669dec)
0x1626 (5670dec)
0x1627 (5671dec)
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
EL125x, EL2258
Version: 2.8
245
Commissioning
Index 1C12 RxPDO assign
Index (hex) Name 1C12:1C SubIndex 028 1C12:1D SubIndex 029 1C12:1E SubIndex 030 1C12:1F SubIndex 031 1C12:20 SubIndex 032 1C12:21 SubIndex 033 1C12:22 SubIndex 034 1C12:23 SubIndex 035 1C12:24 SubIndex 036 1C12:25 SubIndex 037 1C12:26 SubIndex 038 1C12:27 SubIndex 039 1C12:28 SubIndex 040 1C12:29 SubIndex 041 1C12:2A SubIndex 042 1C12:2B SubIndex 043 1C12:2C SubIndex 044 1C12:2D SubIndex 045 1C12:2E SubIndex 046 1C12:2F SubIndex 047 1C12:30 SubIndex 048
Meaning
Data type
28. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
29. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
30. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
31. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
32. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
33. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
34. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
35. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
36. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
37. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
38. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
39. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
40. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
41. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
42. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
43. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
44. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
45. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
46. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
47. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
48. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
Flags RW
Default 0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
246
Version: 2.8
EL125x, EL2258
Commissioning
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0
TxPDO assign
1C13:01 SubIndex 001
1C13:02 SubIndex 002
1C13:03 SubIndex 003
1C13:04 SubIndex 004
1C13:05 SubIndex 005
1C13:06 SubIndex 006
1C13:07 SubIndex 007
1C13:08 SubIndex 008
1C13:09 SubIndex 009
1C13:0A SubIndex 010
1C13:0B SubIndex 011
1C13:0C SubIndex 012
1C13:0D SubIndex 013
1C13:0E SubIndex 014
1C13:0F SubIndex 015
1C13:10 SubIndex 016
1C13:11 SubIndex 017
1C13:12 SubIndex 018
1C13:13 SubIndex 019
1C13:14 SubIndex 020
1C13:15 SubIndex 021
1C13:16 SubIndex 022
1C13:17 SubIndex 023
1C13:18 SubIndex 024
1C13:19 SubIndex 025
1C13:1A SubIndex 026
1C13:1B SubIndex 027
Meaning
Data type
PDO Assign Inputs
UINT8
1. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
2. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
3. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
4. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
5. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
6. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
7. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
8. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
9. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
10. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
11. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
12. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
13. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
14. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
15. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
16. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
17. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
18. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
19. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
20. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
21. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
22. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
23. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
24. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
25. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
26. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
27. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
Flags RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW
Default
0x10 (16dec)
0x1A00 (6656dec)
0x1A01 (6657dec)
0x1A02 (6658dec)
0x1A03 (6659dec)
0x1A04 (6660dec)
0x1A05 (6661dec)
0x1A06 (6662dec)
0x1A07 (6663dec)
0x1A08 (6664dec)
0x1A0C (6668dec)
0x1A10 (6672dec)
0x1A14 (6676dec)
0x1A18 (6680dec)
0x1A1C (6684dec)
0x1A20 (6688dec)
0x1A24 (6692dec)
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
EL125x, EL2258
Version: 2.8
247
Commissioning
Index 1C13 TxPDO assign
Index (hex) Name 1C13:1C SubIndex 028 1C13:1D SubIndex 029 1C13:1E SubIndex 030 1C13:1F SubIndex 031 1C13:20 SubIndex 032 1C13:21 SubIndex 033 1C13:22 SubIndex 034 1C13:23 SubIndex 035 1C13:24 SubIndex 036 1C13:25 SubIndex 037 1C13:26 SubIndex 038 1C13:27 SubIndex 039 1C13:28 SubIndex 040 1C13:29 SubIndex 041 1C13:2A SubIndex 042 1C13:2B SubIndex 043 1C13:2C SubIndex 044 1C13:2D SubIndex 045 1C13:2E SubIndex 046 1C13:2F SubIndex 047 1C13:30 SubIndex 048 1C13:31 SubIndex 049 1C13:32 SubIndex 050 1C13:33 SubIndex 051 1C13:34 SubIndex 052 1C13:35 SubIndex 053 1C13:36 SubIndex 054 1C13:37 SubIndex 055 1C13:38 SubIndex 056 1C13:39 SubIndex 057
Meaning
Data type
28. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
29. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
30. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
31. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
32. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
33. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
34. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
35. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
36. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
37. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
38. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
39. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
40. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
41. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
42. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
43. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
44. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
45. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
46. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
47. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
48. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
49. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
50. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
51. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
52. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
53. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
54. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
55. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
56. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
57. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
Flags RW
Default 0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
248
Version: 2.8
EL125x, EL2258
Commissioning
Index 1C32 SM output parameter
Index (hex) Name
Meaning
1C32:0
SM output parameter Synchronization parameters for the outputs
Data type UINT8
1C32:01 Sync mode
Current synchronization mode:
UINT16
� 0: Free Run
� 1: Synchron with SM 2 Event
� 2: DC-Mode - Synchron with SYNC0 Event
1C32:02 Cycle time
� 3: DC-Mode - Synchron with SYNC1 Event Cycle time (in ns):
UINT32
� Free Run: Cycle time of the local timer
� Synchronous with SM 2 event: Master cycle time
� DC mode: SYNC0/SYNC1 Cycle Time
1C32:03 Shift time
Time between SYNC0 event and output of the outputs UINT32 (in ns, DC mode only)
1C32:04 Sync modes supported Supported synchronization modes:
UINT16
� 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 [} 249])
1C32:05 Minimum cycle time Minimum cycle time (in ns)
UINT32
1C32:06 1C32:07
Calc and copy time Minimum delay time
Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)
UINT32 UINT32
1C32:08
1C32:09 1C32:0B 1C32:0C 1C32:0D 1C32:20
Command
� 0: Measurement of the local cycle time is stopped
UINT16
� 1: Measurement of the local cycle time is started
The entries 0x1C32:03 [} 249], 0x1C32:05 [} 249],
0x1C32:06 [} 249], 0x1C32:09 [} 249], 0x1C33:03
[} 250], 0x1C33:06 [} 249], and 0x1C33:09 [} 250] are updated with the maximum measured values. For a subsequent measurement the measured values are reset
Maximum delay time Time between SYNC1 event and output of the outputs UINT32 (in ns, DC mode only)
SM event missed counter
Number of missed SM events in OPERATIONAL (DC UINT16 mode only)
Cycle exceeded counter
Number of occasions the cycle time was exceeded in UINT16 OPERATIONAL (cycle was not completed in time or the next cycle began too early)
Shift too short counter Number of occasions that the interval between SYNC0 UINT16 and SYNC1 event was too short (DC mode only)
Sync error
The synchronization was not correct in the last cycle BOOLEAN (outputs were output too late; DC mode only)
Flags RO RW
Default 0x20 (32dec) 0x0000 (0dec)
RW
0x000C3500
(800000dec)
RO
0x00000384
(900dec)
RO
0x0804
(2052dec)
RO
0x00001F40
(8000dec)
RO
0x00000000
(0dec)
RO
0x00000384
(900dec)
RW
0x0000 (0dec)
RO
0x00000384
(900dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
EL125x, EL2258
Version: 2.8
249
Commissioning
Index 1C33 SM input parameter
Index (hex) Name
1C33:0
SM input parameter
1C33:01 Sync mode
1C33:02 Cycle time
Meaning Synchronization parameters for the inputs 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) as 0x1C32:02 [} 249]
Data type UINT8 UINT16
UINT32
1C33:03 1C33:04
1C33:05
Shift time
Time between SYNC0 event and reading of the inputs UINT32 (in ns, only DC mode)
Sync modes supported Supported synchronization modes:
UINT16
� 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 [} 249] or 0x1C33:08 [} 250])
Minimum cycle time as 0x1C32:05 [} 249]
UINT32
1C33:06 1C33:07
Calc and copy time Minimum delay time
Time between reading of the inputs and availability of the inputs for the master (in ns, only DC mode)
UINT32 UINT32
1C33:08 1C33:09
1C33:0B
1C33:0C
1C33:0D 1C33:20
Command
as 0x1C32:08 [} 249]
UINT16
Maximum delay time Time between SYNC1 event and reading of the inputs UINT32 (in ns, only DC mode)
SM event missed counter
as 0x1C32:11 [} 249]
UINT16
Cycle exceeded counter
as 0x1C32:12 [} 249]
UINT16
Shift too short counter as 0x1C32:13 [} 249]
UINT16
Sync error
as 0x1C32:32 [} 249]
BOOLEAN
Flags RO RW
Default 0x20 (32dec) 0x0000 (0dec)
RW
0x000C3500
(800000dec)
RO
0x00000384
(900dec)
RO
0x0804
(2052dec)
RO
0x00001F40
(8000dec)
RO
0x00000000
(0dec)
RO
0x00000384
(900dec)
RW
0x0000 (0dec)
RO
0x00000384
(900dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
Index F000 Modular device profile
Index (hex) Name
Meaning
Data type
F000:0
Modular device profile General information for the modular device profile
UINT8
F000:01 Module index distance Index spacing of the objects of the individual channels UINT16
F000:02
Maximum number of Number of channels modules
UINT16
Flags RO RO RO
Default 0x02 (2dec) 0x0010 (16dec) 0x0020 (32dec)
Index F008 Code word
Index (hex) Name
F008:0
Code word
Meaning reserved
Data type UINT32
Flags RW
Default
0x00000000 (0dec)
250
Version: 2.8
EL125x, EL2258
Index F010 Module list
Index (hex) Name
F010:0
Module list
F010:01 SubIndex 001
F010:02 SubIndex 002
F010:03 SubIndex 003
F010:04 SubIndex 004
F010:05 SubIndex 005
F010:06 SubIndex 006
F010:07 SubIndex 007
F010:08 SubIndex 008
F010:09 SubIndex 009
F010:0A SubIndex 010
F010:0B SubIndex 011
F010:0C SubIndex 012
F010:0D SubIndex 013
F010:0E SubIndex 014
F010:0F SubIndex 015
F010:10 SubIndex 016
F010:11 SubIndex 017
F010:12 SubIndex 018
F010:13 SubIndex 019
F010:14 SubIndex 020
Meaning MDP Profile
Commissioning
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW
Default
0x20 (32dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x00000078 (120dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
EL125x, EL2258
Version: 2.8
251
Commissioning
Index F010 Module list
Index (hex) Name F010:15 SubIndex 021 F010:16 SubIndex 022 F010:17 SubIndex 023 F010:18 SubIndex 024 F010:19 SubIndex 025 F010:1A SubIndex 026 F010:1B SubIndex 027 F010:1C SubIndex 028 F010:1D SubIndex 029 F010:1E SubIndex 030 F010:1F SubIndex 031 F010:20 SubIndex 032
Meaning
6.9.3 EL2258
Data type UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RW RW RW RW RW RW RW RW RW RW RW RW
Default
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
0x00000079 (121dec)
6.9.3.1 Object description and parameterization
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.
Parameterization via the CoE list (CAN over EtherCAT)
The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (allocation of PDOs). Please note the following general CoE information when using/manipulating the CoE parameters: - Keep a startup list if components have to be replaced - Differentiation between online/offline dictionary, existence of current XML description - Use "CoE reload" for resetting changes
6.9.3.1.1 Restore object
Index 1011 Restore default parameters
Index (hex) Name
Meaning
Data type
1011:0
Restore default param- Restore default parameters eters
UINT8
1011:01
SubIndex 001
If this object is set to "0x64616F6C" in the set value di- UINT32 alog, all backup objects are reset to their delivery state.
Flags RO
Default 0x01 (1dec)
RW
0x00000000
(0dec)
252
Version: 2.8
EL125x, EL2258
Commissioning
6.9.3.1.2 Configuration data
Index 8pp1 MTO Settings (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
8pp1:0
MTO Settings
Meaning
Data type UINT8
8pp1:01
Use as +24 V power supply
Activates the output permanently. The channel cannot be used for processing of timestamp events. The output is deactivated as soon as the EtherCAT status is not OP.
BOOLEAN
8pp1:02
Enable manual opera- Via this object the output can be switched manually
tion
[} 132].
BOOLEAN
8pp1:03
Enable time check
This bit can be used to determine how to handle switching orders that were placed before the current time (further explanation see here) [} 132].
BOOLEAN
8pp1:11
Buffer reset behavior Specifies the behavior of the "Output buffer reset" bit UINT16
Permitted values:
0 Reset on rising edge: The buffer is cleared with a rising edge of "Output buffer reset"
1 Reset on high level: The buffer is cleared with a rising edge of "Output buffer reset" and does not accept new values until "Output buffer reset" is reset.
8pp1:12
Buffer overflow behav- Specifies the behavior in the event of buffer overflow UINT16
ior
Permitted values:
0 Lock buffer: New events are discarded
1 Overwrite oldest value: New events overwrite the last events in the buffer
Flags RO RW
Default 0x12 (18dec) 0x00 (0dec)
RW
0x00 (0dec)
RW
0x00 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
Index 8ppF MTO Vendor data (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
8ppF:0
MTO Vendor data
8ppF:11 Offset pos
8ppF:12 Offset neg
Meaning
Data type
UINT8
This object can be used to move the output time of the INT32 rising edges. This setting is left to the manufacturer.
This object can be used to move the output time of the INT32 falling edges. This setting is left to the manufacturer.
Index 8ppF TSO Vendor data (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
8ppF:0
TSO Vendor data
8ppF:11 Offset pos
8ppF:12 Offset neg
Meaning
Data type
UINT8
This object can be used to move the output time of the INT32 rising edges. This setting is left to the manufacturer.
This object can be used to move the output time of the INT32 falling edges. This setting is left to the manufacturer.
Flags RO RW
RW
Default
0x12 (18dec) 0x00000000 (0dec) 0x00000000 (0dec)
Flags RO RW
RW
Default
0x12 (18dec) 0x00000000 (0dec) 0x00000000 (0dec)
6.9.3.1.3 Input data
Index 6pp0 MTO inputs (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
Meaning
Data type
6pp0:0
MTO inputs
UINT8
6pp0:01
Output short circuit The channel signals a short circuit
BOOLEAN
6pp0:02
Output buffer overflow More events were written to the buffer than it can hold BOOLEAN
6pp0:03
Output state
Current output state at the time of the process data cy- BOOLEAN cle
6pp0:0F
Input cycle counter
Is incremented with each process data cycle and switches to 0 after its maximum value of 3.
BIT2
6pp0:11
Output order feedback This byte reflects the state of the "Output order counter" byte.
UINT8
6pp0:12
Events in output buffer Returns the number of switching orders currently still in UINT8 the buffer
Flags RO RO RO RO
Default 0x00 (0dec) 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
EL125x, EL2258
Version: 2.8
253
Commissioning
Index 6pp0 TSO Inputs (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
6pp0:0
TSO Inputs
6pp0:01
Feedback
Meaning Returns the current value of the output
Data type UINT8 BOOLEAN
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
Index F611 DEV Inputs
Index (hex) Name
F611:0
DEV Inputs
F611:02 Undervoltage Up
F611:03 Overtemperature
F611:04 F611:21
Checksum error SysTime
Meaning
Data type
UINT8
The nominal voltage at the power contacts was signifi- BOOLEAN cantly below the minimum value.
Overtemperature fault: The temperature of the input or BOOLEAN output blocks is too high. For output terminals check whether one of the channels is affected by a short circuit.
An error occurred in the internal data transfer
BOOLEAN
DC timestamp of the last input mapping. This timestamp should not be used as reference (information on DC reference times). [} 139]
UINT64
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
6.9.3.1.4 Output data
Index 7pp1 MTO outputs (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
7pp1:0
MTO outputs
7pp1:01
Output buffer reset
7pp1:02
Manual output state
Meaning
Data type
UINT8
Removes all elements from the buffer
BOOLEAN
Clearing can be achieved through a rising edge or con-
tinuously by applying 1 at this bit. The behavior can be
parameterized via CoE object 0x8pp1:11 [} 253].
This bit can be used to switch the output without using BOOLEAN timestamps.
� Method 1: The CoE object 0x8pp1:02 [} 253] ("Enable manual operation") is set to TRUE. Timestamp mode is now switched off, and the output can only be switched via the bit "Manual operation state". This is particularly helpful for the commissioning phase.
7pp1:03 7pp1:04 7pp1:09 7pp1:11 7pp1:21 7pp1:2A 7pp1:41 7pp1:4A
� Method 2: Via the bit "Enable manual operation" (0x7pp1:04) the channel output can be forced to the value of this object. Timestamp processing continues in the background. Output is only reactivated if the bit "Enable manual operation" is set to 0 again.
Force order
This bit defines how to deal with timestamps that were BOOLEAN placed in the past (see diagram) [} 132].
Enable manual opera- See "Manual output state" (0x7pp1:02) [} 254]. tion
BOOLEAN
Output order counter Incrementing this byte indicates to the channel that new output events can be accepted
UINT8
No of output events Number of filled "Output event state" and "Output event time" objects
UINT8
Output event state 1 This bit is used to specify which state the output should BOOLEAN assume at the time of "Output event time 1"
Output event state 10 ...
BOOLEAN
Output event time 1 Time at which the state described in "Output event state 1" is to be applied
UINT32
Output event time 10 ...
UINT32
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
254
Version: 2.8
EL125x, EL2258
Commissioning
Index 7pp0 TSO Outputs (for 08 pp 0F; Ch. 1 to Ch. 8)
Index (hex) Name
7pp0:0
TSO Outputs
7pp0:01
Output
7pp0:11
Activate
7pp0:41
StartTime
Meaning
Defines whether a rising (1) or falling (0) edge should be output at the "StartTime" A change from 0 to 3 in this byte triggers acceptance of the order with the current StartTime 64 Bit TimeSTamp
Data type UINT8 BOOLEAN
UINT8
UINT64
Flags RO RO
Default 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
6.9.3.1.5 Diagnostic data
Index App0 MTO Diag data (for 00 pp 07; Ch. 1 to Ch. 8)
Index (hex) Name
App0:0
MTO Diag data
App0:01 Short circuit
App0:02 Undervoltage
Meaning
The channel signals a short circuit The voltage at the power contacts is outside the valid range.
Data type UINT8 BOOLEAN BOOLEAN
Flags RO RO RO
Default 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
Index A001 MTO common Diag data
Index (hex) Name
A001:0
MTO common Diag data
A001:11
Checksum error counter
Meaning An error occurred in the internal data transfer
Data type UINT8
UINT16
Flags RO
Default 0x00 (0dec)
RO
0x0000 (0dec)
Index A080 TSO common Diag data
Index (hex) Name
A080:0
TSO common Diag data
A080:11
Checksum error counter
Meaning An error occurred in the internal data transfer
Data type UINT8
UINT16
Flags RO
Default 0x00 (0dec)
RO
0x0000 (0dec)
6.9.3.1.6 Information data
Index F900 DEV Info data
Index (hex) Name
F900:0
DEV Info data
F900:08 Cycle Time
F900:09 Sample time
Meaning
Indicates the smallest possible cycle time [} 122] that can be set [ns]. Indicates the sampling time [} 122] of the inputs and outputs [ns].
Data type UINT8 UINT32
UINT32
Flags RO RO
RO
Default
0x00 (0dec) 0x00000000 (0dec)
0x00000000 (0dec)
6.9.3.1.7 Command object
Index FB00 Command
The command object was implemented for future use. Currently no commands are supported.
Index (hex) Name
FB00:0
Command
FB00:01 Request
FB00:02 FB00:03
Status Response
Meaning
Data type
UINT8
Commands can be sent to the terminal via the request OCTET-
object.
STRING[2]
Status of the command currently being executed
UINT8
Optional response value of the command
OCTETSTRING[6]
Flags RO RW
Default 0x03 (3dec) {0}
RO
0x00 (0dec)
RO
{0}
EL125x, EL2258
Version: 2.8
255
Commissioning
6.9.3.2 Object description - standard objects
Index 1000 Device type
Index (hex) Name
1000:0
Device type
Meaning
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.
Data type UINT32
Flags RO
Default
0x00001389 (5001dec)
Index 1008 Device name
Index (hex) Name
1008:0
Device name
Meaning Device name of the EtherCAT slave
Data type STRING
Flags Default
RO
EL2258
Index 1009 Hardware version
Index (hex) Name
1009:0
Hardware version
Meaning Hardware version of the EtherCAT slave
Data type STRING
Flags Default RO
Index 100ASoftware version
Index (hex) Name
100A:0
Software version
Meaning Firmware version of the EtherCAT slave
Data type STRING
Flags Default
RO
99
Index 1018 Identity
Index (hex) Name
1018:0
Identity
1018:01
Vendor ID
1018:02
Product code
1018:03
Revision
1018:04
Serial number
Meaning Information for identifying the slave Vendor ID of the EtherCAT slave
Data type UINT8 UINT32
Product code of the EtherCAT slave
UINT32
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
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 UINT32
Flags RO RO
RO
RO
Default
0x04 (4dec)
0x00000002 (2dec)
0x08D23052 (147992658dec)
0x00000000 (0dec)
RO
0x00000000
(0dec)
Index 10F0 Backup parameter handling
Index (hex) Name
10F0:0
Backup parameter handling
10F0:01 Checksum
Meaning
Information for standardized loading and saving of backup entries
Checksum across all backup entries of the EtherCAT slave
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x00000000
(0dec)
256
Version: 2.8
EL125x, EL2258
Commissioning
Index 1600 MTO RxPDO-Map Outputs 10x Ch.1
Index (hex) Name
1600:0
MTO RxPDO-Map Outputs 10x Ch.1
1600:01
SubIndex 001
1600:02
SubIndex 002
1600:03
SubIndex 003
1600:04
SubIndex 004
1600:05 1600:06
SubIndex 005 SubIndex 006
1600:07
SubIndex 007
1600:08 1600:09
SubIndex 008 SubIndex 009
1600:0A SubIndex 010
1600:0B SubIndex 011
1600:0C SubIndex 012
1600:0D SubIndex 013
1600:0E SubIndex 014
1600:0F SubIndex 015
1600:10
SubIndex 016
1600:11
SubIndex 017
1600:12
SubIndex 018
1600:13 1600:14
SubIndex 019 SubIndex 020
1600:15
SubIndex 021
1600:16
SubIndex 022
1600:17
SubIndex 023
1600:18
SubIndex 024
1600:19
SubIndex 025
1600:1A SubIndex 026
1600:1B SubIndex 027
1600:1C SubIndex 028
1600:1D SubIndex 029
Meaning PDO Mapping RxPDO 1
Data type UINT8
1. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7001:01, 1
RO
0x7001:02, 1
RO
0x7001:03, 1
RO
0x7001:04, 1
RO
0x0000:00, 4
RO
0x7001:09, 8
RO
0x7001:11, 8
RO
0x0000:00, 8
RO
0x7001:21, 1
RO
0x7001:22, 1
RO
0x7001:23, 1
RO
0x7001:24, 1
RO
0x7001:25, 1
RO
0x7001:26, 1
RO
0x7001:27, 1
RO
0x7001:28, 1
RO
0x7001:29, 1
RO
0x7001:2A, 1
RO
0x0000:00, 22
RO
0x7001:41, 32
RO
0x7001:42, 32
RO
0x7001:43, 32
RO
0x7001:44, 32
RO
0x7001:45, 32
RO
0x7001:46, 32
RO
0x7001:47, 32
RO
0x7001:48, 32
RO
0x7001:49, 32
RO
0x7001:4A, 32
EL125x, EL2258
Version: 2.8
257
Commissioning
Index 1601 MTO RxPDO-Map Outputs 5x Ch.1
Index (hex) Name
1601:0
MTO RxPDO-Map Outputs 5x Ch.1
1601:01
SubIndex 001
1601:02
SubIndex 002
1601:03
SubIndex 003
1601:04
SubIndex 004
1601:05 1601:06
SubIndex 005 SubIndex 006
1601:07
SubIndex 007
1601:08 1601:09
SubIndex 008 SubIndex 009
1601:0A SubIndex 010
1601:0B SubIndex 011
1601:0C SubIndex 012
1601:0D SubIndex 013
1601:0E 1601:0F
SubIndex 014 SubIndex 015
1601:10
SubIndex 016
1601:11
SubIndex 017
1601:12
SubIndex 018
1601:13
SubIndex 019
Meaning PDO Mapping RxPDO 2
Data type UINT8
1. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7001:01, 1
RO
0x7001:02, 1
RO
0x7001:03, 1
RO
0x7001:04, 1
RO
0x0000:00, 4
RO
0x7001:09, 8
RO
0x7001:11, 8
RO
0x0000:00, 8
RO
0x7001:21, 1
RO
0x7001:22, 1
RO
0x7001:23, 1
RO
0x7001:24, 1
RO
0x7001:25, 1
RO
0x0000:00, 27
RO
0x7001:41, 32
RO
0x7001:42, 32
RO
0x7001:43, 32
RO
0x7001:44, 32
RO
0x7001:45, 32
258
Version: 2.8
EL125x, EL2258
Commissioning
Index 1602 MTO RxPDO-Map Outputs 2x Ch.1
Index (hex) Name
1602:0
MTO RxPDO-Map Outputs 2x Ch.1
1602:01
SubIndex 001
1602:02
SubIndex 002
1602:03
SubIndex 003
1602:04
SubIndex 004
1602:05 1602:06
SubIndex 005 SubIndex 006
1602:07
SubIndex 007
1602:08 1602:09
SubIndex 008 SubIndex 009
1602:0A SubIndex 010
1602:0B 1602:0C
SubIndex 011 SubIndex 012
1602:0D SubIndex 013
Meaning PDO Mapping RxPDO 3
Data type UINT8
1. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7001:01, 1
RO
0x7001:02, 1
RO
0x7001:03, 1
RO
0x7001:04, 1
RO
0x0000:00, 4
RO
0x7001:09, 8
RO
0x7001:11, 8
RO
0x0000:00, 8
RO
0x7001:21, 1
RO
0x7001:22, 1
RO
0x0000:00, 30
RO
0x7001:41, 32
RO
0x7001:42, 32
Index 1603 MTO RxPDO-Map Outputs 1x Ch.1
Index (hex) Name
1603:0
MTO RxPDO-Map Outputs 1x Ch.1
1603:01
SubIndex 001
1603:02
SubIndex 002
1603:03
SubIndex 003
1603:04
SubIndex 004
1603:05 1603:06
SubIndex 005 SubIndex 006
1603:07
SubIndex 007
1603:08 1603:09
SubIndex 008 SubIndex 009
1603:0A 1603:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 4
Data type UINT8
1. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7001 (MTO outputs Ch.1), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7001:01, 1
RO
0x7001:02, 1
RO
0x7001:03, 1
RO
0x7001:04, 1
RO
0x0000:00, 4
RO
0x7001:09, 8
RO
0x7001:11, 8
RO
0x0000:00, 8
RO
0x7001:21, 1
RO
0x0000:00, 31
RO
0x7001:41, 32
EL125x, EL2258
Version: 2.8
259
Commissioning
Index 1604 MTO RxPDO-Map Outputs 10x Ch.2
Index (hex) Name
1604:0
MTO RxPDO-Map Outputs 10x Ch.2
1604:01
SubIndex 001
1604:02
SubIndex 002
1604:03
SubIndex 003
1604:04
SubIndex 004
1604:05 1604:06
SubIndex 005 SubIndex 006
1604:07
SubIndex 007
1604:08 1604:09
SubIndex 008 SubIndex 009
1604:0A SubIndex 010
1604:0B SubIndex 011
1604:0C SubIndex 012
1604:0D SubIndex 013
1604:0E SubIndex 014
1604:0F SubIndex 015
1604:10
SubIndex 016
1604:11
SubIndex 017
1604:12
SubIndex 018
1604:13 1604:14
SubIndex 019 SubIndex 020
1604:15
SubIndex 021
1604:16
SubIndex 022
1604:17
SubIndex 023
1604:18
SubIndex 024
1604:19
SubIndex 025
1604:1A SubIndex 026
1604:1B SubIndex 027
1604:1C SubIndex 028
1604:1D SubIndex 029
Meaning PDO Mapping RxPDO 5
Data type UINT8
1. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7011:01, 1
RO
0x7011:02, 1
RO
0x7011:03, 1
RO
0x7011:04, 1
RO
0x0000:00, 4
RO
0x7011:09, 8
RO
0x7011:11, 8
RO
0x0000:00, 8
RO
0x7011:21, 1
RO
0x7011:22, 1
RO
0x7011:23, 1
RO
0x7011:24, 1
RO
0x7011:25, 1
RO
0x7011:26, 1
RO
0x7011:27, 1
RO
0x7011:28, 1
RO
0x7011:29, 1
RO
0x7011:2A, 1
RO
0x0000:00, 22
RO
0x7011:41, 32
RO
0x7011:42, 32
RO
0x7011:43, 32
RO
0x7011:44, 32
RO
0x7011:45, 32
RO
0x7011:46, 32
RO
0x7011:47, 32
RO
0x7011:48, 32
RO
0x7011:49, 32
RO
0x7011:4A, 32
260
Version: 2.8
EL125x, EL2258
Commissioning
Index 1605 MTO RxPDO-Map Outputs 5x Ch.2
Index (hex) Name
1605:0
MTO RxPDO-Map Outputs 5x Ch.2
1605:01
SubIndex 001
1605:02
SubIndex 002
1605:03
SubIndex 003
1605:04
SubIndex 004
1605:05 1605:06
SubIndex 005 SubIndex 006
1605:07
SubIndex 007
1605:08 1605:09
SubIndex 008 SubIndex 009
1605:0A SubIndex 010
1605:0B SubIndex 011
1605:0C SubIndex 012
1605:0D SubIndex 013
1605:0E 1605:0F
SubIndex 014 SubIndex 015
1605:10
SubIndex 016
1605:11
SubIndex 017
1605:12
SubIndex 018
1605:13
SubIndex 019
Meaning PDO Mapping RxPDO 6
Data type UINT8
1. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7011:01, 1
RO
0x7011:02, 1
RO
0x7011:03, 1
RO
0x7011:04, 1
RO
0x0000:00, 4
RO
0x7011:09, 8
RO
0x7011:11, 8
RO
0x0000:00, 8
RO
0x7011:21, 1
RO
0x7011:22, 1
RO
0x7011:23, 1
RO
0x7011:24, 1
RO
0x7011:25, 1
RO
0x0000:00, 27
RO
0x7011:41, 32
RO
0x7011:42, 32
RO
0x7011:43, 32
RO
0x7011:44, 32
RO
0x7011:45, 32
EL125x, EL2258
Version: 2.8
261
Commissioning
Index 1606 MTO RxPDO-Map Outputs 2x Ch.2
Index (hex) Name
1606:0
MTO RxPDO-Map Outputs 2x Ch.2
1606:01
SubIndex 001
1606:02
SubIndex 002
1606:03
SubIndex 003
1606:04
SubIndex 004
1606:05 1606:06
SubIndex 005 SubIndex 006
1606:07
SubIndex 007
1606:08 1606:09
SubIndex 008 SubIndex 009
1606:0A SubIndex 010
1606:0B 1606:0C
SubIndex 011 SubIndex 012
1606:0D SubIndex 013
Meaning PDO Mapping RxPDO 7
Data type UINT8
1. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7011:01, 1
RO
0x7011:02, 1
RO
0x7011:03, 1
RO
0x7011:04, 1
RO
0x0000:00, 4
RO
0x7011:09, 8
RO
0x7011:11, 8
RO
0x0000:00, 8
RO
0x7011:21, 1
RO
0x7011:22, 1
RO
0x0000:00, 30
RO
0x7011:41, 32
RO
0x7011:42, 32
Index 1607 MTO RxPDO-Map Outputs 1x Ch.2
Index (hex) Name
1607:0
MTO RxPDO-Map Outputs 1x Ch.2
1607:01
SubIndex 001
1607:02
SubIndex 002
1607:03
SubIndex 003
1607:04
SubIndex 004
1607:05 1607:06
SubIndex 005 SubIndex 006
1607:07
SubIndex 007
1607:08 1607:09
SubIndex 008 SubIndex 009
1607:0A 1607:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 8
Data type UINT8
1. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7011 (MTO outputs Ch.2), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7011:01, 1
RO
0x7011:02, 1
RO
0x7011:03, 1
RO
0x7011:04, 1
RO
0x0000:00, 4
RO
0x7011:09, 8
RO
0x7011:11, 8
RO
0x0000:00, 8
RO
0x7011:21, 1
RO
0x0000:00, 31
RO
0x7011:41, 32
262
Version: 2.8
EL125x, EL2258
Commissioning
Index 1608 MTO RxPDO-Map Outputs 10x Ch.3
Index (hex) Name
1608:0
MTO RxPDO-Map Outputs 10x Ch.3
1608:01
SubIndex 001
1608:02
SubIndex 002
1608:03
SubIndex 003
1608:04
SubIndex 004
1608:05 1608:06
SubIndex 005 SubIndex 006
1608:07
SubIndex 007
1608:08 1608:09
SubIndex 008 SubIndex 009
1608:0A SubIndex 010
1608:0B SubIndex 011
1608:0C SubIndex 012
1608:0D SubIndex 013
1608:0E SubIndex 014
1608:0F SubIndex 015
1608:10
SubIndex 016
1608:11
SubIndex 017
1608:12
SubIndex 018
1608:13 1608:14
SubIndex 019 SubIndex 020
1608:15
SubIndex 021
1608:16
SubIndex 022
1608:17
SubIndex 023
1608:18
SubIndex 024
1608:19
SubIndex 025
1608:1A SubIndex 026
1608:1B SubIndex 027
1608:1C SubIndex 028
1608:1D SubIndex 029
Meaning PDO Mapping RxPDO 9
Data type UINT8
1. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7021:01, 1
RO
0x7021:02, 1
RO
0x7021:03, 1
RO
0x7021:04, 1
RO
0x0000:00, 4
RO
0x7021:09, 8
RO
0x7021:11, 8
RO
0x0000:00, 8
RO
0x7021:21, 1
RO
0x7021:22, 1
RO
0x7021:23, 1
RO
0x7021:24, 1
RO
0x7021:25, 1
RO
0x7021:26, 1
RO
0x7021:27, 1
RO
0x7021:28, 1
RO
0x7021:29, 1
RO
0x7021:2A, 1
RO
0x0000:00, 22
RO
0x7021:41, 32
RO
0x7021:42, 32
RO
0x7021:43, 32
RO
0x7021:44, 32
RO
0x7021:45, 32
RO
0x7021:46, 32
RO
0x7021:47, 32
RO
0x7021:48, 32
RO
0x7021:49, 32
RO
0x7021:4A, 32
EL125x, EL2258
Version: 2.8
263
Commissioning
Index 1609 MTO RxPDO-Map Outputs 5x Ch.3
Index (hex) Name
1609:0
MTO RxPDO-Map Outputs 5x Ch.3
1609:01
SubIndex 001
1609:02
SubIndex 002
1609:03
SubIndex 003
1609:04
SubIndex 004
1609:05 1609:06
SubIndex 005 SubIndex 006
1609:07
SubIndex 007
1609:08 1609:09
SubIndex 008 SubIndex 009
1609:0A SubIndex 010
1609:0B SubIndex 011
1609:0C SubIndex 012
1609:0D SubIndex 013
1609:0E 1609:0F
SubIndex 014 SubIndex 015
1609:10
SubIndex 016
1609:11
SubIndex 017
1609:12
SubIndex 018
1609:13
SubIndex 019
Meaning PDO Mapping RxPDO 10
Data type UINT8
1. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7021:01, 1
RO
0x7021:02, 1
RO
0x7021:03, 1
RO
0x7021:04, 1
RO
0x0000:00, 4
RO
0x7021:09, 8
RO
0x7021:11, 8
RO
0x0000:00, 8
RO
0x7021:21, 1
RO
0x7021:22, 1
RO
0x7021:23, 1
RO
0x7021:24, 1
RO
0x7021:25, 1
RO
0x0000:00, 27
RO
0x7021:41, 32
RO
0x7021:42, 32
RO
0x7021:43, 32
RO
0x7021:44, 32
RO
0x7021:45, 32
264
Version: 2.8
EL125x, EL2258
Commissioning
Index 160A MTO RxPDO-Map Outputs 2x Ch.3
Index (hex) Name
160A:0
MTO RxPDO-Map Outputs 2x Ch.3
160A:01 SubIndex 001
160A:02 SubIndex 002
160A:03 SubIndex 003
160A:04 SubIndex 004
160A:05 160A:06
SubIndex 005 SubIndex 006
160A:07 SubIndex 007
160A:08 160A:09
SubIndex 008 SubIndex 009
160A:0A SubIndex 010
160A:0B 160A:0C
SubIndex 011 SubIndex 012
160A:0D SubIndex 013
Meaning PDO Mapping RxPDO 11
Data type UINT8
1. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7021:01, 1
RO
0x7021:02, 1
RO
0x7021:03, 1
RO
0x7021:04, 1
RO
0x0000:00, 4
RO
0x7021:09, 8
RO
0x7021:11, 8
RO
0x0000:00, 8
RO
0x7021:21, 1
RO
0x7021:22, 1
RO
0x0000:00, 30
RO
0x7021:41, 32
RO
0x7021:42, 32
Index 160B MTO RxPDO-Map Outputs 1x Ch.3
Index (hex) Name
160B:0
MTO RxPDO-Map Outputs 1x Ch.3
160B:01 SubIndex 001
160B:02 SubIndex 002
160B:03 SubIndex 003
160B:04 SubIndex 004
160B:05 160B:06
SubIndex 005 SubIndex 006
160B:07 SubIndex 007
160B:08 160B:09
SubIndex 008 SubIndex 009
160B:0A 160B:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 12
Data type UINT8
1. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7021 (MTO outputs Ch.3), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7021:01, 1
RO
0x7021:02, 1
RO
0x7021:03, 1
RO
0x7021:04, 1
RO
0x0000:00, 4
RO
0x7021:09, 8
RO
0x7021:11, 8
RO
0x0000:00, 8
RO
0x7021:21, 1
RO
0x0000:00, 31
RO
0x7021:41, 32
EL125x, EL2258
Version: 2.8
265
Commissioning
Index 160C MTO RxPDO-Map Outputs 10x Ch.4
Index (hex) Name
160C:0
MTO RxPDO-Map Outputs 10x Ch.4
160C:01 SubIndex 001
160C:02 SubIndex 002
160C:03 SubIndex 003
160C:04 SubIndex 004
160C:05 160C:06
SubIndex 005 SubIndex 006
160C:07 SubIndex 007
160C:08 160C:09
SubIndex 008 SubIndex 009
160C:0A SubIndex 010
160C:0B SubIndex 011
160C:0C SubIndex 012
160C:0D SubIndex 013
160C:0E SubIndex 014
160C:0F SubIndex 015
160C:10 SubIndex 016
160C:11 SubIndex 017
160C:12 SubIndex 018
160C:13 160C:14
SubIndex 019 SubIndex 020
160C:15 SubIndex 021
160C:16 SubIndex 022
160C:17 SubIndex 023
160C:18 SubIndex 024
160C:19 SubIndex 025
160C:1A SubIndex 026
160C:1B SubIndex 027
160C:1C SubIndex 028
160C:1D SubIndex 029
Meaning PDO Mapping RxPDO 13
Data type UINT8
1. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7031:01, 1
RO
0x7031:02, 1
RO
0x7031:03, 1
RO
0x7031:04, 1
RO
0x0000:00, 4
RO
0x7031:09, 8
RO
0x7031:11, 8
RO
0x0000:00, 8
RO
0x7031:21, 1
RO
0x7031:22, 1
RO
0x7031:23, 1
RO
0x7031:24, 1
RO
0x7031:25, 1
RO
0x7031:26, 1
RO
0x7031:27, 1
RO
0x7031:28, 1
RO
0x7031:29, 1
RO
0x7031:2A, 1
RO
0x0000:00, 22
RO
0x7031:41, 32
RO
0x7031:42, 32
RO
0x7031:43, 32
RO
0x7031:44, 32
RO
0x7031:45, 32
RO
0x7031:46, 32
RO
0x7031:47, 32
RO
0x7031:48, 32
RO
0x7031:49, 32
RO
0x7031:4A, 32
266
Version: 2.8
EL125x, EL2258
Commissioning
Index 160D MTO RxPDO-Map Outputs 5x Ch.4
Index (hex) Name
160D:0
MTO RxPDO-Map Outputs 5x Ch.4
160D:01 SubIndex 001
160D:02 SubIndex 002
160D:03 SubIndex 003
160D:04 SubIndex 004
160D:05 160D:06
SubIndex 005 SubIndex 006
160D:07 SubIndex 007
160D:08 160D:09
SubIndex 008 SubIndex 009
160D:0A SubIndex 010
160D:0B SubIndex 011
160D:0C SubIndex 012
160D:0D SubIndex 013
160D:0E 160D:0F
SubIndex 014 SubIndex 015
160D:10 SubIndex 016
160D:11 SubIndex 017
160D:12 SubIndex 018
160D:13 SubIndex 019
Meaning PDO Mapping RxPDO 14
Data type UINT8
1. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7031:01, 1
RO
0x7031:02, 1
RO
0x7031:03, 1
RO
0x7031:04, 1
RO
0x0000:00, 4
RO
0x7031:09, 8
RO
0x7031:11, 8
RO
0x0000:00, 8
RO
0x7031:21, 1
RO
0x7031:22, 1
RO
0x7031:23, 1
RO
0x7031:24, 1
RO
0x7031:25, 1
RO
0x0000:00, 27
RO
0x7031:41, 32
RO
0x7031:42, 32
RO
0x7031:43, 32
RO
0x7031:44, 32
RO
0x7031:45, 32
EL125x, EL2258
Version: 2.8
267
Commissioning
Index 160E MTO RxPDO-Map Outputs 2x Ch.4
Index (hex) Name
160E:0
MTO RxPDO-Map Outputs 2x Ch.4
160E:01 SubIndex 001
160E:02 SubIndex 002
160E:03 SubIndex 003
160E:04 SubIndex 004
160E:05 160E:06
SubIndex 005 SubIndex 006
160E:07 SubIndex 007
160E:08 160E:09
SubIndex 008 SubIndex 009
160E:0A SubIndex 010
160E:0B 160E:0C
SubIndex 011 SubIndex 012
160E:0D SubIndex 013
Meaning PDO Mapping RxPDO 15
Data type UINT8
1. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7031:01, 1
RO
0x7031:02, 1
RO
0x7031:03, 1
RO
0x7031:04, 1
RO
0x0000:00, 4
RO
0x7031:09, 8
RO
0x7031:11, 8
RO
0x0000:00, 8
RO
0x7031:21, 1
RO
0x7031:22, 1
RO
0x0000:00, 30
RO
0x7031:41, 32
RO
0x7031:42, 32
Index 160F MTO RxPDO-Map Outputs 1x Ch.4
Index (hex) Name
160F:0
MTO RxPDO-Map Outputs 1x Ch.4
160F:01 SubIndex 001
160F:02 SubIndex 002
160F:03 SubIndex 003
160F:04 SubIndex 004
160F:05 160F:06
SubIndex 005 SubIndex 006
160F:07 SubIndex 007
160F:08 160F:09
SubIndex 008 SubIndex 009
160F:0A 160F:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 16
Data type UINT8
1. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7031 (MTO outputs Ch.4), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7031:01, 1
RO
0x7031:02, 1
RO
0x7031:03, 1
RO
0x7031:04, 1
RO
0x0000:00, 4
RO
0x7031:09, 8
RO
0x7031:11, 8
RO
0x0000:00, 8
RO
0x7031:21, 1
RO
0x0000:00, 31
RO
0x7031:41, 32
268
Version: 2.8
EL125x, EL2258
Commissioning
Index 1610 MTO RxPDO-Map Outputs 10x Ch.5
Index (hex) Name
1610:0
MTO RxPDO-Map Outputs 10x Ch.5
1610:01
SubIndex 001
1610:02
SubIndex 002
1610:03
SubIndex 003
1610:04
SubIndex 004
1610:05 1610:06
SubIndex 005 SubIndex 006
1610:07
SubIndex 007
1610:08 1610:09
SubIndex 008 SubIndex 009
1610:0A SubIndex 010
1610:0B SubIndex 011
1610:0C SubIndex 012
1610:0D SubIndex 013
1610:0E SubIndex 014
1610:0F SubIndex 015
1610:10
SubIndex 016
1610:11
SubIndex 017
1610:12
SubIndex 018
1610:13 1610:14
SubIndex 019 SubIndex 020
1610:15
SubIndex 021
1610:16
SubIndex 022
1610:17
SubIndex 023
1610:18
SubIndex 024
1610:19
SubIndex 025
1610:1A SubIndex 026
1610:1B SubIndex 027
1610:1C SubIndex 028
1610:1D SubIndex 029
Meaning PDO Mapping RxPDO 17
Data type UINT8
1. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7041:01, 1
RO
0x7041:02, 1
RO
0x7041:03, 1
RO
0x7041:04, 1
RO
0x0000:00, 4
RO
0x7041:09, 8
RO
0x7041:11, 8
RO
0x0000:00, 8
RO
0x7041:21, 1
RO
0x7041:22, 1
RO
0x7041:23, 1
RO
0x7041:24, 1
RO
0x7041:25, 1
RO
0x7041:26, 1
RO
0x7041:27, 1
RO
0x7041:28, 1
RO
0x7041:29, 1
RO
0x7041:2A, 1
RO
0x0000:00, 22
RO
0x7041:41, 32
RO
0x7041:42, 32
RO
0x7041:43, 32
RO
0x7041:44, 32
RO
0x7041:45, 32
RO
0x7041:46, 32
RO
0x7041:47, 32
RO
0x7041:48, 32
RO
0x7041:49, 32
RO
0x7041:4A, 32
EL125x, EL2258
Version: 2.8
269
Commissioning
Index 1611 MTO RxPDO-Map Outputs 5x Ch.5
Index (hex) Name
1611:0
MTO RxPDO-Map Outputs 5x Ch.5
1611:01
SubIndex 001
1611:02
SubIndex 002
1611:03
SubIndex 003
1611:04
SubIndex 004
1611:05 1611:06
SubIndex 005 SubIndex 006
1611:07
SubIndex 007
1611:08 1611:09
SubIndex 008 SubIndex 009
1611:0A SubIndex 010
1611:0B SubIndex 011
1611:0C SubIndex 012
1611:0D SubIndex 013
1611:0E 1611:0F
SubIndex 014 SubIndex 015
1611:10
SubIndex 016
1611:11
SubIndex 017
1611:12
SubIndex 018
1611:13
SubIndex 019
Meaning PDO Mapping RxPDO 18
Data type UINT8
1. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7041:01, 1
RO
0x7041:02, 1
RO
0x7041:03, 1
RO
0x7041:04, 1
RO
0x0000:00, 4
RO
0x7041:09, 8
RO
0x7041:11, 8
RO
0x0000:00, 8
RO
0x7041:21, 1
RO
0x7041:22, 1
RO
0x7041:23, 1
RO
0x7041:24, 1
RO
0x7041:25, 1
RO
0x0000:00, 27
RO
0x7041:41, 32
RO
0x7041:42, 32
RO
0x7041:43, 32
RO
0x7041:44, 32
RO
0x7041:45, 32
270
Version: 2.8
EL125x, EL2258
Commissioning
Index 1612 MTO RxPDO-Map Outputs 2x Ch.5
Index (hex) Name
1612:0
MTO RxPDO-Map Outputs 2x Ch.5
1612:01
SubIndex 001
1612:02
SubIndex 002
1612:03
SubIndex 003
1612:04
SubIndex 004
1612:05 1612:06
SubIndex 005 SubIndex 006
1612:07
SubIndex 007
1612:08 1612:09
SubIndex 008 SubIndex 009
1612:0A SubIndex 010
1612:0B 1612:0C
SubIndex 011 SubIndex 012
1612:0D SubIndex 013
Meaning PDO Mapping RxPDO 19
Data type UINT8
1. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7041:01, 1
RO
0x7041:02, 1
RO
0x7041:03, 1
RO
0x7041:04, 1
RO
0x0000:00, 4
RO
0x7041:09, 8
RO
0x7041:11, 8
RO
0x0000:00, 8
RO
0x7041:21, 1
RO
0x7041:22, 1
RO
0x0000:00, 30
RO
0x7041:41, 32
RO
0x7041:42, 32
Index 1613 MTO RxPDO-Map Outputs 1x Ch.5
Index (hex) Name
1613:0
MTO RxPDO-Map Outputs 1x Ch.5
1613:01
SubIndex 001
1613:02
SubIndex 002
1613:03
SubIndex 003
1613:04
SubIndex 004
1613:05 1613:06
SubIndex 005 SubIndex 006
1613:07
SubIndex 007
1613:08 1613:09
SubIndex 008 SubIndex 009
1613:0A 1613:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 20
Data type UINT8
1. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7041 (MTO outputs Ch.5), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7041:01, 1
RO
0x7041:02, 1
RO
0x7041:03, 1
RO
0x7041:04, 1
RO
0x0000:00, 4
RO
0x7041:09, 8
RO
0x7041:11, 8
RO
0x0000:00, 8
RO
0x7041:21, 1
RO
0x0000:00, 31
RO
0x7041:41, 32
EL125x, EL2258
Version: 2.8
271
Commissioning
Index 1614 MTO RxPDO-Map Outputs 10x Ch.6
Index (hex) Name
1614:0
MTO RxPDO-Map Outputs 10x Ch.6
1614:01
SubIndex 001
1614:02
SubIndex 002
1614:03
SubIndex 003
1614:04
SubIndex 004
1614:05 1614:06
SubIndex 005 SubIndex 006
1614:07
SubIndex 007
1614:08 1614:09
SubIndex 008 SubIndex 009
1614:0A SubIndex 010
1614:0B SubIndex 011
1614:0C SubIndex 012
1614:0D SubIndex 013
1614:0E SubIndex 014
1614:0F SubIndex 015
1614:10
SubIndex 016
1614:11
SubIndex 017
1614:12
SubIndex 018
1614:13 1614:14
SubIndex 019 SubIndex 020
1614:15
SubIndex 021
1614:16
SubIndex 022
1614:17
SubIndex 023
1614:18
SubIndex 024
1614:19
SubIndex 025
1614:1A SubIndex 026
1614:1B SubIndex 027
1614:1C SubIndex 028
1614:1D SubIndex 029
Meaning PDO Mapping RxPDO 21
Data type UINT8
1. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7051:01, 1
RO
0x7051:02, 1
RO
0x7051:03, 1
RO
0x7051:04, 1
RO
0x0000:00, 4
RO
0x7051:09, 8
RO
0x7051:11, 8
RO
0x0000:00, 8
RO
0x7051:21, 1
RO
0x7051:22, 1
RO
0x7051:23, 1
RO
0x7051:24, 1
RO
0x7051:25, 1
RO
0x7051:26, 1
RO
0x7051:27, 1
RO
0x7051:28, 1
RO
0x7051:29, 1
RO
0x7051:2A, 1
RO
0x0000:00, 22
RO
0x7051:41, 32
RO
0x7051:42, 32
RO
0x7051:43, 32
RO
0x7051:44, 32
RO
0x7051:45, 32
RO
0x7051:46, 32
RO
0x7051:47, 32
RO
0x7051:48, 32
RO
0x7051:49, 32
RO
0x7051:4A, 32
272
Version: 2.8
EL125x, EL2258
Commissioning
Index 1615 MTO RxPDO-Map Outputs 5x Ch.6
Index (hex) Name
1615:0
MTO RxPDO-Map Outputs 5x Ch.6
1615:01
SubIndex 001
1615:02
SubIndex 002
1615:03
SubIndex 003
1615:04
SubIndex 004
1615:05 1615:06
SubIndex 005 SubIndex 006
1615:07
SubIndex 007
1615:08 1615:09
SubIndex 008 SubIndex 009
1615:0A SubIndex 010
1615:0B SubIndex 011
1615:0C SubIndex 012
1615:0D SubIndex 013
1615:0E 1615:0F
SubIndex 014 SubIndex 015
1615:10
SubIndex 016
1615:11
SubIndex 017
1615:12
SubIndex 018
1615:13
SubIndex 019
Meaning PDO Mapping RxPDO 22
Data type UINT8
1. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7051:01, 1
RO
0x7051:02, 1
RO
0x7051:03, 1
RO
0x7051:04, 1
RO
0x0000:00, 4
RO
0x7051:09, 8
RO
0x7051:11, 8
RO
0x0000:00, 8
RO
0x7051:21, 1
RO
0x7051:22, 1
RO
0x7051:23, 1
RO
0x7051:24, 1
RO
0x7051:25, 1
RO
0x0000:00, 27
RO
0x7051:41, 32
RO
0x7051:42, 32
RO
0x7051:43, 32
RO
0x7051:44, 32
RO
0x7051:45, 32
EL125x, EL2258
Version: 2.8
273
Commissioning
Index 1616 MTO RxPDO-Map Outputs 2x Ch.6
Index (hex) Name
1616:0
MTO RxPDO-Map Outputs 2x Ch.6
1616:01
SubIndex 001
1616:02
SubIndex 002
1616:03
SubIndex 003
1616:04
SubIndex 004
1616:05 1616:06
SubIndex 005 SubIndex 006
1616:07
SubIndex 007
1616:08 1616:09
SubIndex 008 SubIndex 009
1616:0A SubIndex 010
1616:0B 1616:0C
SubIndex 011 SubIndex 012
1616:0D SubIndex 013
Meaning PDO Mapping RxPDO 23
Data type UINT8
1. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7051:01, 1
RO
0x7051:02, 1
RO
0x7051:03, 1
RO
0x7051:04, 1
RO
0x0000:00, 4
RO
0x7051:09, 8
RO
0x7051:11, 8
RO
0x0000:00, 8
RO
0x7051:21, 1
RO
0x7051:22, 1
RO
0x0000:00, 30
RO
0x7051:41, 32
RO
0x7051:42, 32
Index 1617 MTO RxPDO-Map Outputs 1x Ch.6
Index (hex) Name
1617:0
MTO RxPDO-Map Outputs 1x Ch.6
1617:01
SubIndex 001
1617:02
SubIndex 002
1617:03
SubIndex 003
1617:04
SubIndex 004
1617:05 1617:06
SubIndex 005 SubIndex 006
1617:07
SubIndex 007
1617:08 1617:09
SubIndex 008 SubIndex 009
1617:0A 1617:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 24
Data type UINT8
1. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7051 (MTO outputs Ch.6), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7051:01, 1
RO
0x7051:02, 1
RO
0x7051:03, 1
RO
0x7051:04, 1
RO
0x0000:00, 4
RO
0x7051:09, 8
RO
0x7051:11, 8
RO
0x0000:00, 8
RO
0x7051:21, 1
RO
0x0000:00, 31
RO
0x7051:41, 32
274
Version: 2.8
EL125x, EL2258
Commissioning
Index 1618 MTO RxPDO-Map Outputs 10x Ch.7
Index (hex) Name
1618:0
MTO RxPDO-Map Outputs 10x Ch.7
1618:01
SubIndex 001
1618:02
SubIndex 002
1618:03
SubIndex 003
1618:04
SubIndex 004
1618:05 1618:06
SubIndex 005 SubIndex 006
1618:07
SubIndex 007
1618:08 1618:09
SubIndex 008 SubIndex 009
1618:0A SubIndex 010
1618:0B SubIndex 011
1618:0C SubIndex 012
1618:0D SubIndex 013
1618:0E SubIndex 014
1618:0F SubIndex 015
1618:10
SubIndex 016
1618:11
SubIndex 017
1618:12
SubIndex 018
1618:13 1618:14
SubIndex 019 SubIndex 020
1618:15
SubIndex 021
1618:16
SubIndex 022
1618:17
SubIndex 023
1618:18
SubIndex 024
1618:19
SubIndex 025
1618:1A SubIndex 026
1618:1B SubIndex 027
1618:1C SubIndex 028
1618:1D SubIndex 029
Meaning PDO Mapping RxPDO 25
Data type UINT8
1. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7061:01, 1
RO
0x7061:02, 1
RO
0x7061:03, 1
RO
0x7061:04, 1
RO
0x0000:00, 4
RO
0x7061:09, 8
RO
0x7061:11, 8
RO
0x0000:00, 8
RO
0x7061:21, 1
RO
0x7061:22, 1
RO
0x7061:23, 1
RO
0x7061:24, 1
RO
0x7061:25, 1
RO
0x7061:26, 1
RO
0x7061:27, 1
RO
0x7061:28, 1
RO
0x7061:29, 1
RO
0x7061:2A, 1
RO
0x0000:00, 22
RO
0x7061:41, 32
RO
0x7061:42, 32
RO
0x7061:43, 32
RO
0x7061:44, 32
RO
0x7061:45, 32
RO
0x7061:46, 32
RO
0x7061:47, 32
RO
0x7061:48, 32
RO
0x7061:49, 32
RO
0x7061:4A, 32
EL125x, EL2258
Version: 2.8
275
Commissioning
Index 1619 MTO RxPDO-Map Outputs 5x Ch.7
Index (hex) Name
1619:0
MTO RxPDO-Map Outputs 5x Ch.7
1619:01
SubIndex 001
1619:02
SubIndex 002
1619:03
SubIndex 003
1619:04
SubIndex 004
1619:05 1619:06
SubIndex 005 SubIndex 006
1619:07
SubIndex 007
1619:08 1619:09
SubIndex 008 SubIndex 009
1619:0A SubIndex 010
1619:0B SubIndex 011
1619:0C SubIndex 012
1619:0D SubIndex 013
1619:0E 1619:0F
SubIndex 014 SubIndex 015
1619:10
SubIndex 016
1619:11
SubIndex 017
1619:12
SubIndex 018
1619:13
SubIndex 019
Meaning PDO Mapping RxPDO 26
Data type UINT8
1. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7061:01, 1
RO
0x7061:02, 1
RO
0x7061:03, 1
RO
0x7061:04, 1
RO
0x0000:00, 4
RO
0x7061:09, 8
RO
0x7061:11, 8
RO
0x0000:00, 8
RO
0x7061:21, 1
RO
0x7061:22, 1
RO
0x7061:23, 1
RO
0x7061:24, 1
RO
0x7061:25, 1
RO
0x0000:00, 27
RO
0x7061:41, 32
RO
0x7061:42, 32
RO
0x7061:43, 32
RO
0x7061:44, 32
RO
0x7061:45, 32
276
Version: 2.8
EL125x, EL2258
Commissioning
Index 161A MTO RxPDO-Map Outputs 2x Ch.7
Index (hex) Name
161A:0
MTO RxPDO-Map Outputs 2x Ch.7
161A:01 SubIndex 001
161A:02 SubIndex 002
161A:03 SubIndex 003
161A:04 SubIndex 004
161A:05 161A:06
SubIndex 005 SubIndex 006
161A:07 SubIndex 007
161A:08 161A:09
SubIndex 008 SubIndex 009
161A:0A SubIndex 010
161A:0B 161A:0C
SubIndex 011 SubIndex 012
161A:0D SubIndex 013
Meaning PDO Mapping RxPDO 27
Data type UINT8
1. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7061:01, 1
RO
0x7061:02, 1
RO
0x7061:03, 1
RO
0x7061:04, 1
RO
0x0000:00, 4
RO
0x7061:09, 8
RO
0x7061:11, 8
RO
0x0000:00, 8
RO
0x7061:21, 1
RO
0x7061:22, 1
RO
0x0000:00, 30
RO
0x7061:41, 32
RO
0x7061:42, 32
Index 161B MTO RxPDO-Map Outputs 1x Ch.7
Index (hex) Name
161B:0
MTO RxPDO-Map Outputs 1x Ch.7
161B:01 SubIndex 001
161B:02 SubIndex 002
161B:03 SubIndex 003
161B:04 SubIndex 004
161B:05 161B:06
SubIndex 005 SubIndex 006
161B:07 SubIndex 007
161B:08 161B:09
SubIndex 008 SubIndex 009
161B:0A 161B:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 28
Data type UINT8
1. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7061 (MTO outputs Ch.7), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7061:01, 1
RO
0x7061:02, 1
RO
0x7061:03, 1
RO
0x7061:04, 1
RO
0x0000:00, 4
RO
0x7061:09, 8
RO
0x7061:11, 8
RO
0x0000:00, 8
RO
0x7061:21, 1
RO
0x0000:00, 31
RO
0x7061:41, 32
EL125x, EL2258
Version: 2.8
277
Commissioning
Index 161C MTO RxPDO-Map Outputs 10x Ch.8
Index (hex) Name
161C:0
MTO RxPDO-Map Outputs 10x Ch.8
161C:01 SubIndex 001
161C:02 SubIndex 002
161C:03 SubIndex 003
161C:04 SubIndex 004
161C:05 161C:06
SubIndex 005 SubIndex 006
161C:07 SubIndex 007
161C:08 161C:09
SubIndex 008 SubIndex 009
161C:0A SubIndex 010
161C:0B SubIndex 011
161C:0C SubIndex 012
161C:0D SubIndex 013
161C:0E SubIndex 014
161C:0F SubIndex 015
161C:10 SubIndex 016
161C:11 SubIndex 017
161C:12 SubIndex 018
161C:13 161C:14
SubIndex 019 SubIndex 020
161C:15 SubIndex 021
161C:16 SubIndex 022
161C:17 SubIndex 023
161C:18 SubIndex 024
161C:19 SubIndex 025
161C:1A SubIndex 026
161C:1B SubIndex 027
161C:1C SubIndex 028
161C:1D SubIndex 029
Meaning PDO Mapping RxPDO 29
Data type UINT8
1. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x25 (Output event state 5))
14. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x26 (Output event state 6))
15. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x27 (Output event state 7))
16. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x28 (Output event state 8))
17. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x29 (Output event state 9))
18. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x2A (Output event state 10))
19. PDO Mapping entry (22 bits align)
20. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x41 (Output event time 1))
21. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x42 (Output event time 2))
22. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x43 (Output event time 3))
23. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x44 (Output event time 4))
24. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x45 (Output event time 5))
25. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x46 (Output event time 6))
26. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x47 (Output event time 7))
27. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x48 (Output event time 8))
28. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x49 (Output event time 9))
29. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x4A (Output event time 10))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x1D (29dec)
RO
0x7071:01, 1
RO
0x7071:02, 1
RO
0x7071:03, 1
RO
0x7071:04, 1
RO
0x0000:00, 4
RO
0x7071:09, 8
RO
0x7071:11, 8
RO
0x0000:00, 8
RO
0x7071:21, 1
RO
0x7071:22, 1
RO
0x7071:23, 1
RO
0x7071:24, 1
RO
0x7071:25, 1
RO
0x7071:26, 1
RO
0x7071:27, 1
RO
0x7071:28, 1
RO
0x7071:29, 1
RO
0x7071:2A, 1
RO
0x0000:00, 22
RO
0x7071:41, 32
RO
0x7071:42, 32
RO
0x7071:43, 32
RO
0x7071:44, 32
RO
0x7071:45, 32
RO
0x7071:46, 32
RO
0x7071:47, 32
RO
0x7071:48, 32
RO
0x7071:49, 32
RO
0x7071:4A, 32
278
Version: 2.8
EL125x, EL2258
Commissioning
Index 161D MTO RxPDO-Map Outputs 5x Ch.8
Index (hex) Name
161D:0
MTO RxPDO-Map Outputs 5x Ch.8
161D:01 SubIndex 001
161D:02 SubIndex 002
161D:03 SubIndex 003
161D:04 SubIndex 004
161D:05 161D:06
SubIndex 005 SubIndex 006
161D:07 SubIndex 007
161D:08 161D:09
SubIndex 008 SubIndex 009
161D:0A SubIndex 010
161D:0B SubIndex 011
161D:0C SubIndex 012
161D:0D SubIndex 013
161D:0E 161D:0F
SubIndex 014 SubIndex 015
161D:10 SubIndex 016
161D:11 SubIndex 017
161D:12 SubIndex 018
161D:13 SubIndex 019
Meaning PDO Mapping RxPDO 30
Data type UINT8
1. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x22 (Output event state 2))
11. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x23 (Output event state 3))
12. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x24 (Output event state 4))
13. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x25 (Output event state 5))
14. PDO Mapping entry (27 bits align)
15. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x41 (Output event time 1))
16. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x42 (Output event time 2))
17. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x43 (Output event time 3))
18. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x44 (Output event time 4))
19. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x45 (Output event time 5))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x13 (19dec)
RO
0x7071:01, 1
RO
0x7071:02, 1
RO
0x7071:03, 1
RO
0x7071:04, 1
RO
0x0000:00, 4
RO
0x7071:09, 8
RO
0x7071:11, 8
RO
0x0000:00, 8
RO
0x7071:21, 1
RO
0x7071:22, 1
RO
0x7071:23, 1
RO
0x7071:24, 1
RO
0x7071:25, 1
RO
0x0000:00, 27
RO
0x7071:41, 32
RO
0x7071:42, 32
RO
0x7071:43, 32
RO
0x7071:44, 32
RO
0x7071:45, 32
EL125x, EL2258
Version: 2.8
279
Commissioning
Index 161E MTO RxPDO-Map Outputs 2x Ch.8
Index (hex) Name
161E:0
MTO RxPDO-Map Outputs 2x Ch.8
161E:01 SubIndex 001
161E:02 SubIndex 002
161E:03 SubIndex 003
161E:04 SubIndex 004
161E:05 161E:06
SubIndex 005 SubIndex 006
161E:07 SubIndex 007
161E:08 161E:09
SubIndex 008 SubIndex 009
161E:0A SubIndex 010
161E:0B 161E:0C
SubIndex 011 SubIndex 012
161E:0D SubIndex 013
Meaning PDO Mapping RxPDO 31
Data type UINT8
1. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x21 (Output event state 1))
10. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x22 (Output event state 2))
11. PDO Mapping entry (30 bits align)
12. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x41 (Output event time 1))
13. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x42 (Output event time 2))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0D (13dec)
RO
0x7071:01, 1
RO
0x7071:02, 1
RO
0x7071:03, 1
RO
0x7071:04, 1
RO
0x0000:00, 4
RO
0x7071:09, 8
RO
0x7071:11, 8
RO
0x0000:00, 8
RO
0x7071:21, 1
RO
0x7071:22, 1
RO
0x0000:00, 30
RO
0x7071:41, 32
RO
0x7071:42, 32
Index 161F MTO RxPDO-Map Outputs 1x Ch.8
Index (hex) Name
161F:0
MTO RxPDO-Map Outputs 1x Ch.8
161F:01 SubIndex 001
161F:02 SubIndex 002
161F:03 SubIndex 003
161F:04 SubIndex 004
161F:05 161F:06
SubIndex 005 SubIndex 006
161F:07 SubIndex 007
161F:08 161F:09
SubIndex 008 SubIndex 009
161F:0A 161F:0B
SubIndex 010 SubIndex 011
Meaning PDO Mapping RxPDO 32
Data type UINT8
1. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x01 (Output buffer reset))
2. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x02 (Manual output state))
3. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x03 (Force order))
4. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x04 (Enable manual operation))
5. PDO Mapping entry (4 bits align)
6. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x09 (Output order counter))
7. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x11 (No of output events))
8. PDO Mapping entry (8 bits align)
9. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x21 (Output event state 1))
10. PDO Mapping entry (31 bits align)
11. PDO Mapping entry (object 0x7071 (MTO outputs Ch.8), entry 0x41 (Output event time 1))
UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x0B (11dec)
RO
0x7071:01, 1
RO
0x7071:02, 1
RO
0x7071:03, 1
RO
0x7071:04, 1
RO
0x0000:00, 4
RO
0x7071:09, 8
RO
0x7071:11, 8
RO
0x0000:00, 8
RO
0x7071:21, 1
RO
0x0000:00, 31
RO
0x7071:41, 32
280
Version: 2.8
EL125x, EL2258
Commissioning
Index 1620 TSO RxPDO-Map Ch.1
Index (hex) Name
1620:0
TSO RxPDO-Map Ch.1
1620:01
SubIndex 001
1620:02 1620:03
SubIndex 002 SubIndex 003
1620:04 1620:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 33
1. PDO Mapping entry (object 0x7080 (TSO Outputs Ch.1), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7080 (TSO Outputs Ch.1), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7080 (TSO Outputs Ch.1), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7080:01, 1
RO
0x0000:00, 15
RO
0x7080:11, 8
RO
0x0000:00, 40
RO
0x7080:41, 64
Index 1621 TSO RxPDO-Map Ch.2
Index (hex) Name
1621:0
TSO RxPDO-Map Ch.2
1621:01
SubIndex 001
1621:02 1621:03
SubIndex 002 SubIndex 003
1621:04 1621:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 34
1. PDO Mapping entry (object 0x7090 (TSO Outputs Ch.2), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x7090 (TSO Outputs Ch.2), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x7090 (TSO Outputs Ch.2), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x7090:01, 1
RO
0x0000:00, 15
RO
0x7090:11, 8
RO
0x0000:00, 40
RO
0x7090:41, 64
Index 1622 TSO RxPDO-Map Ch.3
Index (hex) Name
1622:0
TSO RxPDO-Map Ch.3
1622:01
SubIndex 001
1622:02 1622:03
SubIndex 002 SubIndex 003
1622:04 1622:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 35
Data type UINT8
1. PDO Mapping entry (object 0x70A0 (TSO Outputs Ch.3), entry 0x01 (Output))
2. PDO Mapping entry (15 bits align)
3. PDO Mapping entry (object 0x70A0 (TSO Outputs Ch.3), entry 0x11 (Activate))
4. PDO Mapping entry (40 bits align)
5. PDO Mapping entry (object 0x70A0 (TSO Outputs Ch.3), entry 0x41 (StartTime))
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x70A0:01, 1
RO
0x0000:00, 15
RO
0x70A0:11, 8
RO
0x0000:00, 40
RO
0x70A0:41, 64
Index 1623 TSO RxPDO-Map Ch.4
Index (hex) Name
1623:0
TSO RxPDO-Map Ch.4
1623:01
SubIndex 001
1623:02 1623:03
SubIndex 002 SubIndex 003
1623:04 1623:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 36
Data type UINT8
1. PDO Mapping entry (object 0x70B0 (TSO Outputs Ch.4), entry 0x01 (Output))
2. PDO Mapping entry (15 bits align)
3. PDO Mapping entry (object 0x70B0 (TSO Outputs Ch.4), entry 0x11 (Activate))
4. PDO Mapping entry (40 bits align)
5. PDO Mapping entry (object 0x70B0 (TSO Outputs Ch.4), entry 0x41 (StartTime))
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x70B0:01, 1
RO
0x0000:00, 15
RO
0x70B0:11, 8
RO
0x0000:00, 40
RO
0x70B0:41, 64
EL125x, EL2258
Version: 2.8
281
Commissioning
Index 1624 TSO RxPDO-Map Ch.5
Index (hex) Name
1624:0
TSO RxPDO-Map Ch.5
1624:01
SubIndex 001
1624:02 1624:03
SubIndex 002 SubIndex 003
1624:04 1624:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 37
Data type UINT8
1. PDO Mapping entry (object 0x70C0 (TSO Outputs Ch.5), entry 0x01 (Output))
2. PDO Mapping entry (15 bits align)
3. PDO Mapping entry (object 0x70C0 (TSO Outputs Ch.5), entry 0x11 (Activate))
4. PDO Mapping entry (40 bits align)
5. PDO Mapping entry (object 0x70C0 (TSO Outputs Ch.5), entry 0x41 (StartTime))
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x70C0:01, 1
RO
0x0000:00, 15
RO
0x70C0:11, 8
RO
0x0000:00, 40
RO
0x70C0:41, 64
Index 1625 TSO RxPDO-Map Ch.6
Index (hex) Name
1625:0
TSO RxPDO-Map Ch.6
1625:01
SubIndex 001
1625:02 1625:03
SubIndex 002 SubIndex 003
1625:04 1625:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 38
Data type UINT8
1. PDO Mapping entry (object 0x70D0 (TSO Outputs Ch.6), entry 0x01 (Output))
2. PDO Mapping entry (15 bits align)
3. PDO Mapping entry (object 0x70D0 (TSO Outputs Ch.6), entry 0x11 (Activate))
4. PDO Mapping entry (40 bits align)
5. PDO Mapping entry (object 0x70D0 (TSO Outputs Ch.6), entry 0x41 (StartTime))
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x70D0:01, 1
RO
0x0000:00, 15
RO
0x70D0:11, 8
RO
0x0000:00, 40
RO
0x70D0:41, 64
Index 1626 TSO RxPDO-Map Ch.7
Index (hex) Name
1626:0
TSO RxPDO-Map Ch.7
1626:01
SubIndex 001
1626:02 1626:03
SubIndex 002 SubIndex 003
1626:04 1626:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 39
Data type UINT8
1. PDO Mapping entry (object 0x70E0 (TSO Outputs Ch.7), entry 0x01 (Output))
2. PDO Mapping entry (15 bits align)
3. PDO Mapping entry (object 0x70E0 (TSO Outputs Ch.7), entry 0x11 (Activate))
4. PDO Mapping entry (40 bits align)
5. PDO Mapping entry (object 0x70E0 (TSO Outputs Ch.7), entry 0x41 (StartTime))
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x70E0:01, 1
RO
0x0000:00, 15
RO
0x70E0:11, 8
RO
0x0000:00, 40
RO
0x70E0:41, 64
Index 1627 TSO RxPDO-Map Ch.8
Index (hex) Name
1627:0
TSO RxPDO-Map Ch.8
1627:01
SubIndex 001
1627:02 1627:03
SubIndex 002 SubIndex 003
1627:04 1627:05
SubIndex 004 SubIndex 005
Meaning PDO Mapping RxPDO 40
1. PDO Mapping entry (object 0x70F0 (TSO Outputs Ch.8), entry 0x01 (Output)) 2. PDO Mapping entry (15 bits align) 3. PDO Mapping entry (object 0x70F0 (TSO Outputs Ch.8), entry 0x11 (Activate)) 4. PDO Mapping entry (40 bits align) 5. PDO Mapping entry (object 0x70F0 (TSO Outputs Ch.8), entry 0x41 (StartTime))
Data type UINT8
UINT32
UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x05 (5dec)
RO
0x70F0:01, 1
RO
0x0000:00, 15
RO
0x70F0:11, 8
RO
0x0000:00, 40
RO
0x70F0:41, 64
282
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A00 MTO TxPDO-Map Inputs Ch.1
Index (hex) Name
1A00:0
MTO TxPDO-Map Inputs Ch.1
1A00:01 SubIndex 001
1A00:02 SubIndex 002
1A00:03 SubIndex 003
1A00:04 1A00:05
SubIndex 004 SubIndex 005
1A00:06 SubIndex 006
1A00:07 SubIndex 007
Meaning PDO Mapping TxPDO 1
1. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6000 (MTO inputs Ch.1), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6000:01, 1
RO
0x6000:02, 1
RO
0x6000:03, 1
RO
0x0000:00, 11
RO
0x6000:0F, 2
RO
0x6000:11, 8
RO
0x6000:12, 8
Index 1A01 MTO TxPDO-Map Inputs Ch.2
Index (hex) Name
1A01:0
MTO TxPDO-Map Inputs Ch.2
1A01:01 SubIndex 001
1A01:02 SubIndex 002
1A01:03 SubIndex 003
1A01:04 1A01:05
SubIndex 004 SubIndex 005
1A01:06 SubIndex 006
1A01:07 SubIndex 007
Meaning PDO Mapping TxPDO 2
1. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6010 (MTO inputs Ch.2), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6010:01, 1
RO
0x6010:02, 1
RO
0x6010:03, 1
RO
0x0000:00, 11
RO
0x6010:0F, 2
RO
0x6010:11, 8
RO
0x6010:12, 8
Index 1A02 MTO TxPDO-Map Inputs Ch.3
Index (hex) Name
1A02:0
MTO TxPDO-Map Inputs Ch.3
1A02:01 SubIndex 001
1A02:02 SubIndex 002
1A02:03 SubIndex 003
1A02:04 1A02:05
SubIndex 004 SubIndex 005
1A02:06 SubIndex 006
1A02:07 SubIndex 007
Meaning PDO Mapping TxPDO 3
1. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6020 (MTO inputs Ch.3), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6020:01, 1
RO
0x6020:02, 1
RO
0x6020:03, 1
RO
0x0000:00, 11
RO
0x6020:0F, 2
RO
0x6020:11, 8
RO
0x6020:12, 8
EL125x, EL2258
Version: 2.8
283
Commissioning
Index 1A03 MTO TxPDO-Map Inputs Ch.4
Index (hex) Name
1A03:0
MTO TxPDO-Map Inputs Ch.4
1A03:01 SubIndex 001
1A03:02 SubIndex 002
1A03:03 SubIndex 003
1A03:04 1A03:05
SubIndex 004 SubIndex 005
1A03:06 SubIndex 006
1A03:07 SubIndex 007
Meaning PDO Mapping TxPDO 4
1. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6030 (MTO inputs Ch.4), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6030:01, 1
RO
0x6030:02, 1
RO
0x6030:03, 1
RO
0x0000:00, 11
RO
0x6030:0F, 2
RO
0x6030:11, 8
RO
0x6030:12, 8
Index 1A04 MTO TxPDO-Map Inputs Ch.5
Index (hex) Name
1A04:0
MTO TxPDO-Map Inputs Ch.5
1A04:01 SubIndex 001
1A04:02 SubIndex 002
1A04:03 SubIndex 003
1A04:04 1A04:05
SubIndex 004 SubIndex 005
1A04:06 SubIndex 006
1A04:07 SubIndex 007
Meaning PDO Mapping TxPDO 5
1. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6040 (MTO inputs Ch.5), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6040:01, 1
RO
0x6040:02, 1
RO
0x6040:03, 1
RO
0x0000:00, 11
RO
0x6040:0F, 2
RO
0x6040:11, 8
RO
0x6040:12, 8
Index 1A05 MTO TxPDO-Map Inputs Ch.6
Index (hex) Name
1A05:0
MTO TxPDO-Map Inputs Ch.6
1A05:01 SubIndex 001
1A05:02 SubIndex 002
1A05:03 SubIndex 003
1A05:04 1A05:05
SubIndex 004 SubIndex 005
1A05:06 SubIndex 006
1A05:07 SubIndex 007
Meaning PDO Mapping TxPDO 6
1. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6050 (MTO inputs Ch.6), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6050:01, 1
RO
0x6050:02, 1
RO
0x6050:03, 1
RO
0x0000:00, 11
RO
0x6050:0F, 2
RO
0x6050:11, 8
RO
0x6050:12, 8
284
Version: 2.8
EL125x, EL2258
Commissioning
Index 1A06 MTO TxPDO-Map Inputs Ch.7
Index (hex) Name
1A06:0
MTO TxPDO-Map Inputs Ch.7
1A06:01 SubIndex 001
1A06:02 SubIndex 002
1A06:03 SubIndex 003
1A06:04 1A06:05
SubIndex 004 SubIndex 005
1A06:06 SubIndex 006
1A06:07 SubIndex 007
Meaning PDO Mapping TxPDO 7
1. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6060 (MTO inputs Ch.7), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6060:01, 1
RO
0x6060:02, 1
RO
0x6060:03, 1
RO
0x0000:00, 11
RO
0x6060:0F, 2
RO
0x6060:11, 8
RO
0x6060:12, 8
Index 1A07 MTO TxPDO-Map Inputs Ch.8
Index (hex) Name
1A07:0
MTO TxPDO-Map Inputs Ch.8
1A07:01 SubIndex 001
1A07:02 SubIndex 002
1A07:03 SubIndex 003
1A07:04 1A07:05
SubIndex 004 SubIndex 005
1A07:06 SubIndex 006
1A07:07 SubIndex 007
Meaning PDO Mapping TxPDO 8
1. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x01 (Output short circuit)) 2. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x02 (Output buffer overflow)) 3. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x03 (Output state)) 4. PDO Mapping entry (11 bits align) 5. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x0F (Input cycle counter)) 6. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x11 (Output order feedback)) 7. PDO Mapping entry (object 0x6070 (MTO inputs Ch.8), entry 0x12 (Events in output buffer))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default 0x07 (7dec)
RO
0x6070:01, 1
RO
0x6070:02, 1
RO
0x6070:03, 1
RO
0x0000:00, 11
RO
0x6070:0F, 2
RO
0x6070:11, 8
RO
0x6070:12, 8
Index 1A08 TSO TxPDO-Map Inputs Ch.1
Index (hex) Name
1A08:0
TSO TxPDO-Map Inputs Ch.1
1A08:01 SubIndex 001
1A08:02 SubIndex 002
Meaning PDO Mapping TxPDO 9
1. PDO Mapping entry (object 0x6080 (TSO Inputs Ch.1), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6080:01, 1
RO
0x0000:00, 31
Index 1A09 TSO TxPDO-Map Inputs Ch.2
Index (hex) Name
1A09:0
TSO TxPDO-Map Inputs Ch.2
1A09:01 SubIndex 001
1A09:02 SubIndex 002
Meaning PDO Mapping TxPDO 10
1. PDO Mapping entry (object 0x6090 (TSO Inputs Ch.2), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x6090:01, 1
RO
0x0000:00, 31
Index 1A0A TSO TxPDO-Map Inputs Ch.3
Index (hex) Name
1A0A:0
TSO TxPDO-Map Inputs Ch.3
1A0A:01 SubIndex 001
1A0A:02 SubIndex 002
Meaning PDO Mapping TxPDO 11
1. PDO Mapping entry (object 0x60A0 (TSO Inputs Ch.3), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x60A0:01, 1
RO
0x0000:00, 31
EL125x, EL2258
Version: 2.8
285
Commissioning
Index 1A0B TSO TxPDO-Map Inputs Ch.4
Index (hex) Name
1A0B:0
TSO TxPDO-Map Inputs Ch.4
1A0B:01 SubIndex 001
1A0B:02 SubIndex 002
Meaning PDO Mapping TxPDO 12
1. PDO Mapping entry (object 0x60B0 (TSO Inputs Ch.4), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x60B0:01, 1
RO
0x0000:00, 31
Index 1A0C TSO TxPDO-Map Inputs Ch.5
Index (hex) Name
1A0C:0
TSO TxPDO-Map Inputs Ch.5
1A0C:01 SubIndex 001
1A0C:02 SubIndex 002
Meaning PDO Mapping TxPDO 13
1. PDO Mapping entry (object 0x60C0 (TSO Inputs Ch.5), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x60C0:01, 1
RO
0x0000:00, 31
Index 1A0D TSO TxPDO-Map Inputs Ch.6
Index (hex) Name
1A0D:0
TSO TxPDO-Map Inputs Ch.6
1A0D:01 SubIndex 001
1A0D:02 SubIndex 002
Meaning PDO Mapping TxPDO 14
1. PDO Mapping entry (object 0x60D0 (TSO Inputs Ch.6), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x60D0:01, 1
RO
0x0000:00, 31
Index 1A0E TSO TxPDO-Map Inputs Ch.7
Index (hex) Name
1A0E:0
TSO TxPDO-Map Inputs Ch.7
1A0E:01 SubIndex 001
1A0E:02 SubIndex 002
Meaning PDO Mapping TxPDO 15
1. PDO Mapping entry (object 0x60E0 (TSO Inputs Ch.7), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x60E0:01, 1
RO
0x0000:00, 31
Index 1A0F TSO TxPDO-Map Inputs Ch.8
Index (hex) Name
1A0F:0
TSO TxPDO-Map Inputs Ch.8
1A0F:01 SubIndex 001
1A0F:02 SubIndex 002
Meaning PDO Mapping TxPDO 16
1. PDO Mapping entry (object 0x60F0 (TSO Inputs Ch.8), entry 0x01 (Feedback)) 2. PDO Mapping entry (31 bits align)
Data type UINT8
UINT32
UINT32
Flags RO
Default 0x02 (2dec)
RO
0x60F0:01, 1
RO
0x0000:00, 31
Index 1A10 DEV TxPDO-Map Inputs Device
Index (hex) Name
1A10:0
DEV TxPDO-Map Inputs Device
1A10:01 SubIndex 001
1A10:02 SubIndex 002
1A10:03 SubIndex 003
1A10:04 SubIndex 004
1A10:05 1A10:06
SubIndex 005 SubIndex 006
Meaning PDO Mapping TxPDO 17
1. PDO Mapping entry (1 bits align) 2. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x02 (Undervoltage Up)) 3. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x03 (Overtemperature)) 4. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x04 (Checksum error)) 5. PDO Mapping entry (60 bits align) 6. PDO Mapping entry (object 0xF611 (DEV Inputs), entry 0x21 (SysTime))
Data type UINT8
UINT32 UINT32
UINT32
UINT32
UINT32 UINT32
Flags RO
Default 0x06 (6dec)
RO
0x0000:00, 1
RO
0xF611:02, 1
RO
0xF611:03, 1
RO
0xF611:04, 1
RO
0x0000:00, 60
RO
0xF611:21, 64
286
Version: 2.8
EL125x, EL2258
Commissioning
Index 1C00 Sync manager type
Index (hex) Name
1C00:0
Sync manager type
1C00:01 SubIndex 001
1C00:02 SubIndex 002
1C00:03 SubIndex 003
1C00:04 SubIndex 004
Meaning Using the sync managers Sync-Manager Type Channel 1: Mailbox Write Sync-Manager Type Channel 2: Mailbox Read Sync-Manager Type Channel 3: Process Data Write (Outputs) Sync-Manager Type Channel 4: Process Data Read (Inputs)
Data type UINT8 UINT8 UINT8 UINT8
UINT8
Flags RO RO RO RO
Default 0x04 (4dec) 0x01 (1dec) 0x02 (2dec) 0x03 (3dec)
RO
0x04 (4dec)
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0
RxPDO assign
1C12:01 SubIndex 001
1C12:02 SubIndex 002
1C12:03 SubIndex 003
1C12:04 SubIndex 004
1C12:05 SubIndex 005
1C12:06 SubIndex 006
1C12:07 SubIndex 007
1C12:08 SubIndex 008
1C12:09 SubIndex 009
1C12:0A SubIndex 010
1C12:0B SubIndex 011
1C12:0C SubIndex 012
1C12:0D SubIndex 013
1C12:0E SubIndex 014
1C12:0F SubIndex 015
1C12:10 SubIndex 016
1C12:11 SubIndex 017
1C12:12 SubIndex 018
1C12:13 SubIndex 019
1C12:14 SubIndex 020
1C12:15 SubIndex 021
1C12:16 SubIndex 022
1C12:17 SubIndex 023
1C12:18 SubIndex 024
1C12:19 SubIndex 025
1C12:1A SubIndex 026
Meaning
Data type
PDO Assign Outputs
UINT8
1. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
2. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
3. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
4. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
5. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
6. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
7. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
8. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
9. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
10. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
11. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
12. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
13. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
14. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
15. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
16. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
17. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
18. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
19. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
20. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
21. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
22. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
23. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
24. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
25. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
26. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
Flags RW RW RW RW RW RW RW RW RW RW
Default
0x08 (8dec)
0x1600 (5632dec)
0x1604 (5636dec)
0x1608 (5640dec)
0x160C (5644dec)
0x1610 (5648dec)
0x1614 (5652dec)
0x1618 (5656dec)
0x161C (5660dec)
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
EL125x, EL2258
Version: 2.8
287
Commissioning
Index 1C12 RxPDO assign
Index (hex) Name 1C12:1B SubIndex 027 1C12:1C SubIndex 028 1C12:1D SubIndex 029 1C12:1E SubIndex 030 1C12:1F SubIndex 031 1C12:20 SubIndex 032 1C12:21 SubIndex 033 1C12:22 SubIndex 034 1C12:23 SubIndex 035 1C12:24 SubIndex 036 1C12:25 SubIndex 037 1C12:26 SubIndex 038 1C12:27 SubIndex 039 1C12:28 SubIndex 040
Meaning
Data type
27. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
28. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
29. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
30. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
31. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
32. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
33. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
34. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
35. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
36. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
37. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
38. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
39. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
40. allocated RxPDO (contains the index of the associ- UINT16 ated RxPDO mapping object)
Flags RW
Default 0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
288
Version: 2.8
EL125x, EL2258
Commissioning
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0
TxPDO assign
1C13:01 SubIndex 001
1C13:02 SubIndex 002
1C13:03 SubIndex 003
1C13:04 SubIndex 004
1C13:05 SubIndex 005
1C13:06 SubIndex 006
1C13:07 SubIndex 007
1C13:08 SubIndex 008
1C13:09 SubIndex 009
1C13:0A SubIndex 010
1C13:0B SubIndex 011
1C13:0C SubIndex 012
1C13:0D SubIndex 013
1C13:0E SubIndex 014
1C13:0F SubIndex 015
1C13:10 SubIndex 016
1C13:11 SubIndex 017
Meaning
Data type
PDO Assign Inputs
UINT8
1. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
2. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
3. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
4. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
5. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
6. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
7. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
8. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
9. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
10. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
11. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
12. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
13. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
14. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
15. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
16. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
17. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
Flags RW RW RW RW RW RW RW RW RW RW
Default
0x08 (8dec)
0x1A00 (6656dec)
0x1A01 (6657dec)
0x1A02 (6658dec)
0x1A03 (6659dec)
0x1A04 (6660dec)
0x1A05 (6661dec)
0x1A06 (6662dec)
0x1A07 (6663dec)
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
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Index 1C32 SM output parameter
Index (hex) Name
Meaning
1C32:0
SM output parameter Synchronization parameters for the outputs
Data type UINT8
1C32:01 Sync mode
Current synchronization mode:
UINT16
� 0: Free Run
� 1: Synchron with SM 2 Event
� 2: DC-Mode - Synchron with SYNC0 Event
1C32:02 Cycle time
� 3: DC-Mode - Synchron with SYNC1 Event Cycle time (in ns):
UINT32
� Free Run: Cycle time of the local timer
� Synchronous with SM 2 event: Master cycle time
� DC mode: SYNC0/SYNC1 Cycle Time
1C32:03 Shift time
Time between SYNC0 event and output of the outputs UINT32 (in ns, DC mode only)
1C32:04 Sync modes supported Supported synchronization modes:
UINT16
� 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 [} 290])
1C32:05 Minimum cycle time Minimum cycle time (in ns)
UINT32
1C32:06 1C32:07
Calc and copy time Minimum delay time
Minimum time between SYNC0 and SYNC1 event (in ns, DC mode only)
UINT32 UINT32
1C32:08
1C32:09 1C32:0B 1C32:0C 1C32:0D 1C32:20
Command
� 0: Measurement of the local cycle time is stopped
UINT16
� 1: Measurement of the local cycle time is started
The entries 0x1C32:03 [} 290], 0x1C32:05 [} 290],
0x1C32:06 [} 290], 0x1C32:09 [} 290], 0x1C33:03
[} 291], 0x1C33:06 [} 290], and 0x1C33:09 [} 291] are updated with the maximum measured values. For a subsequent measurement the measured values are reset
Maximum delay time Time between SYNC1 event and output of the outputs UINT32 (in ns, DC mode only)
SM event missed counter
Number of missed SM events in OPERATIONAL (DC UINT16 mode only)
Cycle exceeded counter
Number of occasions the cycle time was exceeded in UINT16 OPERATIONAL (cycle was not completed in time or the next cycle began too early)
Shift too short counter Number of occasions that the interval between SYNC0 UINT16 and SYNC1 event was too short (DC mode only)
Sync error
The synchronization was not correct in the last cycle BOOLEAN (outputs were output too late; DC mode only)
Flags RO RW
Default 0x20 (32dec) 0x0000 (0dec)
RW
0x000C3500
(800000dec)
RO
0x00000384
(900dec)
RO
0x0804
(2052dec)
RO
0x00001F40
(8000dec)
RO
0x00000000
(0dec)
RO
0x00000384
(900dec)
RW
0x0000 (0dec)
RO
0x00000384
(900dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
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Index 1C33 SM input parameter
Index (hex) Name
1C33:0
SM input parameter
1C33:01 Sync mode
1C33:02 Cycle time
Meaning Synchronization parameters for the inputs Current synchronization mode:
� 0: Free Run � 1: Synchronous with SM 3 event (no outputs
available) � 2: DC - Synchronous with SYNC0 Event � 3: DC - Synchronous with SYNC1 Event � 34: Synchronous with SM 2 event (outputs
available) as 0x1C32:02 [} 290]
Data type UINT8 UINT16
UINT32
1C33:03 1C33:04
1C33:05
Shift time
Time between SYNC0 event and reading of the inputs UINT32 (in ns, only DC mode)
Sync modes supported Supported synchronization modes:
UINT16
� 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 [} 290] or 0x1C33:08 [} 291])
Minimum cycle time as 0x1C32:05 [} 290]
UINT32
1C33:06 1C33:07
Calc and copy time Minimum delay time
Time between reading of the inputs and availability of the inputs for the master (in ns, only DC mode)
UINT32 UINT32
1C33:08 1C33:09
1C33:0B
1C33:0C
1C33:0D 1C33:20
Command
as 0x1C32:08 [} 290]
UINT16
Maximum delay time Time between SYNC1 event and reading of the inputs UINT32 (in ns, only DC mode)
SM event missed counter
as 0x1C32:11 [} 290]
UINT16
Cycle exceeded counter
as 0x1C32:12 [} 290]
UINT16
Shift too short counter as 0x1C32:13 [} 290]
UINT16
Sync error
as 0x1C32:32 [} 290]
BOOLEAN
Flags RO RW
Default 0x20 (32dec) 0x0000 (0dec)
RW
0x000C3500
(800000dec)
RO
0x00000384
(900dec)
RO
0x0804
(2052dec)
RO
0x00001F40
(8000dec)
RO
0x00000000
(0dec)
RO
0x00000384
(900dec)
RW
0x0000 (0dec)
RO
0x00000384
(900dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
Index F000 Modular device profile
Index (hex) Name
Meaning
Data type
F000:0
Modular device profile General information for the modular device profile
UINT8
F000:01 Module index distance Index spacing of the objects of the individual channels UINT16
F000:02
Maximum number of Number of channels modules
UINT16
Flags RO RO RO
Default 0x02 (2dec) 0x0010 (16dec) 0x0010 (16dec)
Index F008 Code word
Index (hex) Name
F008:0
Code word
Meaning reserved
Data type UINT32
Flags RW
Default
0x00000000 (0dec)
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Index F010 Module list
Index (hex) Name
F010:0
Module list
F010:01 SubIndex 001
F010:02 SubIndex 002
F010:03 SubIndex 003
F010:04 SubIndex 004
F010:05 SubIndex 005
F010:06 SubIndex 006
F010:07 SubIndex 007
F010:08 SubIndex 008
F010:09 SubIndex 009
F010:0A SubIndex 010
F010:0B SubIndex 011
F010:0C SubIndex 012
F010:0D SubIndex 013
F010:0E SubIndex 014
F010:0F SubIndex 015
F010:10 SubIndex 016
Meaning MDP Profile
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW
Default
0x10 (16dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DC (220dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
0x000000DD (221dec)
6.10 Example programs
Using the sample programs
This document contains sample applications of our products for certain areas of application. The application notes provided here are based on typical features of our products and only serve as examples. The notes contained in this document explicitly do not refer to specific applications. The customer is therefore responsible for assessing and deciding whether the product is suitable for a particular application. We accept no responsibility for the completeness and correctness of the source code contained in this document. We reserve the right to modify the content of this document at any time and accept no responsibility for errors and missing information.
Preparations for starting the sample programs (tnzip file / TwinCAT 3) � Click on the download button to save the Zip archive locally on your hard disk, then unzip the *.tnzip archive file in a temporary folder.
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Fig. 178: Opening the *. tnzip archive � Select the .tnzip file (sample program). � A further selection window opens. Select the destination directory for storing the project. � For a description of the general PLC commissioning procedure and starting the program please refer to the terminal documentation or the EtherCAT system documentation. � The EtherCAT device of the example should usually be declared your present system. After selection of the EtherCAT device in the "Solutionexplorer" select the "Adapter" tab and click on "Search...":
Fig. 179: Search of the existing HW configuration for the EtherCAT configuration of the example � Checking NetId: the "EtherCAT" tab of the EtherCAT device shows the configured NetId:
. The first 4 numbers have to be identical with the project NetId of the target system. The project NetId can be viewed within the TwinCAT environment above, where a pull down menu can be opened to choose a target system (by clicking right in the text field). The number blocks are placed in brackets there next to each computer name of a target system.
� Modify the NetId: By right clicking on "EtherCAT device" within the solution explorer a context menu opens where "Change NetId..." have to be selected. The first four numbers of the NetId of the target computer have to be entered; the both last values are 4.1 usually. Example:
NetId of project: myComputer (123.45.67.89.1.1)
Entry via ,,Change NetId...": 123.45.67.89.4.1
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Also see more hints in section: Commissioning, TwinCAT Quickstart, TwinCAT 3, Startup [} 66].
6.10.1 Example program for EL2258: Multi-Timestamp
The following example program delivers 4 x 10 Switching-Tasks within one PLC-Taskcycle to the first four channels of the terminal EL2258 and also sets the respective output states inverting from ,,1" to ,,0", beginning with ,,1" as for the first state. The arbitrariness, for the first four channels respective different fixed switch times are illustrated by the following oscilloscope recording:
Fig. 180: Recording of four channels by the Multi-Timestamp program example
All arrays have to be linked to eight channels with all the necessary status, output and input variables respectively. This is already be done by the downloadable example:
https://infosys.beckhoff.com/content/1033/el125x_el2258/Resources/zip/2139514763.zip
This example requires a PLC control with a terminal EL2258. You can use either an embedded PC that has the terminal placed on the right or an IPC with an EtherCAT link of an e.g. RJ45 connector to the EK1100 coupler with the terminal (e.g. C6915 + EK1100 + EL2258). Optionally a digital input terminal e.g. EL1004 can be used for program control.
The further procedure is described in section TwinCAT Quickstart, TwinCAT 3, Starting the controller [} 79].
Example program for EL2258: Multi-Timestamp
Variables declaration:
PROGRAM MAIN VAR CONSTANT
// Number of used channels of the terminal in this code example nNumOfSwitchTasks : INT:=4; END_VAR VAR_INPUT // External switch to start by user bEnable AT%I* : BOOL; // Reference to check if last tasks were already executed nOutputOrderFeedback AT%I*: ARRAY[0..7] OF USINT; END_VAR VAR_OUTPUT // Link to terminal EL2258 (Output event time n):
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aQE_Time AT%Q* : ARRAY[0..7] OF ARRAY[0..9] OF UDINT;
// Link to terminal EL2258 (Output event state n):
aQE_State AT%Q* : ARRAY[0..7] OF ARRAY[0..9] OF BOOL;
// Outputvariables to reset the output buffers of EL2258
bOutputBufReset AT%Q*: ARRAY[0..7] OF BOOL;
// Real number of fixed State/Time-Events as a Task for EL2258
nNoOfOutputEvents AT%Q*: ARRAY[0..7] OF USINT;
// Start-Event to trigger beginning of task scheduling
nOutputOrderCounter AT%Q*: ARRAY[0..7] OF USINT;
END_VAR
VAR
aSwitchTimes : ARRAY[0..7] OF ARRAY[0..9] OF UDINT:=
// All 8 x 10 time offsets in ms allocated to the 10 states and 8 channels
[
[ // Channel 1 time offsets:
100, 50, 25, 75, 75, 25, 50, 25, 50, 50
]
,[ // Channel 2 time offsets:
100, 25, 50, 25, 50, 50, 25, 75, 75, 50
]
,[ // Channel 3 time offsets:
100, 50, 25, 75, 75, 50, 25, 50, 25, 50
]
,[ // Channel 4 time offsets:
100, 25, 50, 50, 25, 75, 75, 50, 50, 25
]
(*
More time offsets for switch tasks:
,[ // Channel 5 time offsets:
100, 50, 25, 75, 75, 25, 50, 50, 25, 50
]
,[ // Channel 6 time offsets:
100, 25, 50, 25, 50, 50, 25, 75, 75, 50
]
,[ // Channel 7 time offsets:
100, 50, 25, 75, 75, 50, 25, 50, 25, 50
]
,[ // Channel 8 time offsets:
100, 25, 50, 50, 25, 75, 75, 50, 25, 50
]
*)
];
nState : UINT:=0; // Use for "CASE .. OF" statement
nShortTime : UDINT; // Timevalue of current DC time/ lower 32 Bit only
nCurrentTime : ULINT; // Current DC-Time of the PLC-Task
bStateValue : BOOL; // Variable to set a toggled state of a task-event
nScheduleNo: INT; // Consists No of respective state/time pair of a Switch-Task
nChannel: INT; // Channel of the EL2258
END_VAR
Program:
// Example program: 10x Multi-Timestamp for EL2258 nCurrentTime := F_GetCurDcTaskTime64(); // Get current DC-Time (Task-Related)
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CASE nState OF // ====================== Do some initializations here: ============================ 0: FOR nChannel:= 0 TO (nNumOfSwitchTasks-1) DO // Reset ouput buffer of the terminal EL2258 bOutputBufReset[nChannel] := TRUE; END_FOR nState := nState + 1;// Go to next state 1: FOR nChannel:= 0 TO (nNumOfSwitchTasks-1) DO bOutputBufReset[nChannel] := FALSE; END_FOR nState := nState + 1; // Go to next state 2: // Wait for external start-event by user (e.g. ext. switch) IF bEnable THEN nState := 10; // Go to next state and set events END_IF // ================================================================================= // ============ Now fill up all state/time pairs for the four channels ============= 10: FOR nChannel:= 0 TO (nNumOfSwitchTasks-1) DO // Last tasks already executed? IF nOutputOrderFeedback[nChannel] = nOutputOrderCounter[nChannel] THEN bStateValue:=1; // Set first state level ('1') aQE_State[nChannel][0] := bStateValue; // Cut 64 Bit time value to 32 Bit nShortTime := ULINT_TO_UDINT(nCurrentTime AND 16#FFFFFFFF); // Set first time value (duration for "save" begin) aQE_Time[nChannel][0] := (nShortTime + aSwitchTimes[nChannel][0] * 1000000); // Put all switch states with their times into the terminal: FOR nScheduleNo:=1 TO 9 DO // Use 'nScheduleNo' as loop counter bStateValue := NOT bStateValue; // Set inverting output states of one switch-task aQE_State[nChannel][nScheduleNo] := bStateValue; // Set timestamps by fixed array into one switch-task aQE_Time[nChannel][nScheduleNo] := (aQE_Time[nChannel][nScheduleNo-1] + aSwitchTimes[nChannel][nScheduleNo] * 1000000); END_FOR END_IF END_FOR nState := nState + 1; // Go to next state // ================================================================================= // ======== Allow some taskcycles (min. 2) to let EL2258 schedule all tasks ======== 11: // 'nScheduleNo' is still 9; wait until 12: 3 more PLC-Taskcycles IF nScheduleNo = 12 THEN FOR nChannel:= 0 TO (nNumOfSwitchTasks-1) DO nNoOfOutputEvents[nChannel] := 10; // Trigger Multi-Timestamp scheduling: now start: nOutputOrderCounter[nChannel] := nOutputOrderCounter[nChannel] + 1; END_FOR nState := nState + 1;
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ELSE // Just count PLC-Taskcycles here nScheduleNo := nScheduleNo + 1;
END_IF 12: // ================================== End ==========================================
// Wait for external switch to be released IF NOT bEnable THEN
// Go to beginning state (could be '0' also) nState := 2; END_IF END_CASE
6.10.2 Example program for EL1258 (EL1259): MT Visualization (TC 3)
This sample program uses a TwinCAT3 visualization to illustrate the multi-timestamp functionality of a digital input of the EL1258 (and accordingly EL1259). In 10x multi-timestamp and asynchronous (buffered) mode, one terminal input is controlled by a digital EL2002 output terminal. The sample program contains the EtherCAT configuration and the corresponding links to the PDOs of the terminals and uses channel 1 (the channel input must be connected to channel output accordingly).
The following structure is recommended for commissioning the sample program: [EK1100] + [EL1258] + [EL2002] + [EL9011]
Fig. 181: Recommended structure for the EL1258 sample program
Download: https://infosys.beckhoff.com/content/1033/el125x_el2258/Resources/zip/4513278347.zip The MTI settings for the EL1258 are as follows:
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Version: 2.8
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Commissioning
Fig. 182: CoE object 0x8000 (MTI settings ch.1): Settings for the sample program To change settings, select the terminal in the Solution Explorer and select the "CoE - online" tab. Explanatory notes on the sample program A TwinCAT 3 visualization is used to illustrate the evaluation of binary input signals. Only the basic functionality is described. To this end, Visualization_1 merely represents a timestamp difference of two events at the input of channel 1 of the EL1258 (input bit 0 1 0):
Fig. 183: Sample program EL1258 / Visualization_1: simple time measurement based on two state changes
A digital output terminal, whose output is directly connected to input channel 1 of the EL1258, switches the output with "SET OUTPUT". The user presses the button for any length of time; the elapsed time is shown in the upper bar-graph display, while the lower bar-graph display shows a time span determined by the timestamps of the EL1258.
Like Visualization_2, this is used for continuous output of a bit pattern or a pseudo-random sequence. All variations are possible here, with the intention to illustrate the behavior of the EL1258, including a reconstruction of the bit pattern using the time stamps of the received events (right side):
Fig. 184: Sample program EL1258 / Visualization_2: Display of incoming events in chronological order according to the timestamps of the EL1258
Using the bit pattern defined in the POU "PulseOutputs" (left side):
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This bit pattern is stored in the constant "nOutValueInit" as a 64-bit value in binary format and can be changed here with another bit sequence. Furthermore, Visualization_2 illustrates a basic procedure for processing the input signals of the EL1258: after processing current times (aInputEventTimes) and their associated states (aInputEventState) within the program, the system checks whether there are still events in the buffer (nEventsInInputBuffer). This is illustrated as follows:
Fig. 185: Query of the "EventInInputBuffer" of the EL1258: Are there any other events stored in the terminal? "LimitOfEventsInInputBuffer" can be used to specify from when the buffered events should be transferred to the readable PDOs of the terminal. The implementation in MAIN is represented here by the graphically displayed conditional branching and is intended to show that events stored in the terminal are passed on to the PDOs "externally" by incrementing the "InputOrderCounter".
Usage of the example program for EL1259
If the example program shall be used for the EL1259, this terminal have to be set into the configuration instead of the EL1258. All PDO bound to the selected input channel have to be linked with the respective program variables. As shown in figure "CoE object 0x8000 (MTI settings ch.1): Settings for the sample program" above, this device requires an equivalent configuration of channel 1 in CoE object 0x8080.
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7
Appendix
7.1
EtherCAT AL Status Codes
For detailed information please refer to the EtherCAT system description.
7.2
Firmware compatibility
Beckhoff EtherCAT devices are delivered with the latest available firmware version. Compatibility of firmware and hardware is mandatory; not every combination ensures compatibility. The overview below shows the hardware versions on which a firmware can be operated.
Note
� It is recommended to use the newest possible firmware for the respective hardware
� Beckhoff is not under any obligation to provide customers with free firmware updates for delivered products.
NOTE
Risk of damage to the device!
Pay attention to the instructions for firmware updates on the separate page. If a device is placed in BOOTSTRAP mode for a firmware update, it does not check when downloading whether the new firmware is suitable. This can result in damage to the device! Therefore, always make sure that the firmware is suitable for the hardware version!
EL1258 Hardware (HW) 00
01 02 � 05*
Firmware (FW) 01 02 03 04 05 06 07 08*
Revision no. EL1258-0000-0016
EL1258-0000-0017
Date of release 07/2013 12/2013 01/2014 06/2015 09/2015 06/2015 07/2018 01/2020
EL1258-0010 Hardware (HW) 00*
Firmware (FW) 07 08*
Revision no. EL1258-0010-0016 EL1258-0010-0017
Date of release 02/2020 10/2020
EL1259 Hardware (HW) 00 � 01
02 - 03*
Firmware (FW) 01 02 03 04 05 06*
Revision no. EL1259-0000-0016
EL1259-0000-0017 EL1259-0000-0018
Date of release 01/2013 12/2013 07/2014 02/2018 06/2019 05/2020
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EL2258 Hardware (HW) 00 - 01
02*
Firmware (FW) 01 02 03 04 05*
Revision no. EL2258-0000-0016
EL2258-0000-0017
Date of release 07/2013 12/2013 07/2014 07/2018 06/2019
*) This is the current compatible firmware/hardware version at the time of the preparing this documentation. Check on the Beckhoff web page whether more up-to-date documentation is available.
7.3
Firmware Update EL/ES/EM/ELM/EPxxxx
This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, ELM, EM, EK and EP series. A firmware update should only be carried out after consultation with Beckhoff support.
NOTE
Only use TwinCAT 3 software!
A firmware update of Beckhoff IO devices must only be performed with a TwinCAT 3 installation. It is recommended to build as up-to-date as possible, available for free download on the Beckhoff website https:// www.beckhoff.com/en-us/.
To update the firmware, TwinCAT can be operated in the so-called FreeRun mode, a paid license is not required.
The device to be updated can usually remain in the installation location, but TwinCAT has to be operated in the FreeRun. Please make sure that EtherCAT communication is trouble-free (no LostFrames etc.).
Other EtherCAT master software, such as the EtherCAT Configurator, should not be used, as they may not support the complexities of updating firmware, EEPROM and other device components.
Storage locations
An EtherCAT slave stores operating data in up to three locations:
� Depending on functionality and performance EtherCAT slaves have one or several local controllers for processing I/O data. The corresponding program is the so-called firmware in *.efw format.
� In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers. In this case the controller is usually a so-called FPGA chip with *.rbf firmware.
� In addition, each EtherCAT slave has a memory chip, a so-called ESI-EEPROM, for storing its own device description (ESI: EtherCAT Slave Information). On power-up this description is loaded and the EtherCAT communication is set up accordingly. The device description is available from the download area of the Beckhoff website at (https://www.beckhoff.de). All ESI files are accessible there as zip files.
Customers can access the data via the EtherCAT fieldbus and its communication mechanisms. Acyclic mailbox communication or register access to the ESC is used for updating or reading of these data.
The TwinCAT System Manager offers mechanisms for programming all three parts with new data, if the slave is set up for this purpose. Generally the slave does not check whether the new data are suitable, i.e. it may no longer be able to operate if the data are unsuitable.
Simplified update by bundle firmware
The update using so-called bundle firmware is more convenient: in this case the controller firmware and the ESI description are combined in a *.efw file; during the update both the firmware and the ESI are changed in the terminal. For this to happen it is necessary
� for the firmware to be in a packed format: recognizable by the file name, which also contains the revision number, e.g. ELxxxx-xxxx_REV0016_SW01.efw
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� for password=1 to be entered in the download dialog. If password=0 (default setting) only the firmware update is carried out, without an ESI update.
� for the device to support this function. The function usually cannot be retrofitted; it is a component of many new developments from year of manufacture 2016.
Following the update, its success should be verified � ESI/Revision: e.g. by means of an online scan in TwinCAT ConfigMode/FreeRun � this is a convenient way to determine the revision � Firmware: e.g. by looking in the online CoE of the device
NOTE Risk of damage to the device!
� Note the following when downloading new device files a) Firmware downloads to an EtherCAT device must not be interrupted b) Flawless EtherCAT communication must be ensured. CRC errors or LostFrames must be avoided. c) The power supply must adequately dimensioned. The signal level must meet the specification. � In the event of malfunctions during the update process the EtherCAT device may become unusable and
require re-commissioning by the manufacturer.
7.3.1 Device description ESI file/XML
NOTE Attention regarding update of the ESI description/EEPROM
Some slaves have stored calibration and configuration data from the production in the EEPROM. These are irretrievably overwritten during an update.
The ESI device description is stored locally on the slave and loaded on start-up. Each device description has a unique identifier consisting of slave name (9 characters/digits) and a revision number (4 digits). Each slave configured in the System Manager shows its identifier in the EtherCAT tab:
Fig. 186: Device identifier consisting of name EL3204-0000 and revision -0016
The configured identifier must be compatible with the actual device description used as hardware, i.e. the description which the slave has loaded on start-up (in this case EL3204). Normally the configured revision must be the same or lower than that actually present in the terminal network.
For further information on this, please refer to the EtherCAT system documentation.
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Update of XML/ESI description
The device revision is closely linked to the firmware and hardware used. Incompatible combinations lead to malfunctions or even final shutdown of the device. Corresponding updates should only be carried out in consultation with Beckhoff support.
Display of ESI slave identifier The simplest way to ascertain compliance of configured and actual device description is to scan the EtherCAT boxes in TwinCAT mode Config/FreeRun:
Fig. 187: Scan the subordinate field by right-clicking on the EtherCAT device If the found field matches the configured field, the display shows
Fig. 188: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration.
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Fig. 189: Change dialog
In this example in Fig. Change dialog, an EL3201-0000-0017 was found, while an EL3201-0000-0016 was configured. In this case the configuration can be adapted with the Copy Before button. The Extended Information checkbox must be set in order to display the revision.
Changing the ESI slave identifier
The ESI/EEPROM identifier can be updated as follows under TwinCAT: � Trouble-free EtherCAT communication must be established with the slave. � The state of the slave is irrelevant. � Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. EEPROM Update
Fig. 190: EEPROM Update
The new ESI description is selected in the following dialog, see Fig. Selecting the new ESI. The checkbox Show Hidden Devices also displays older, normally hidden versions of a slave.
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Fig. 191: Selecting the new ESI
A progress bar in the System Manager shows the progress. Data are first written, then verified.
The change only takes effect after a restart.
Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT. Some communication settings such as distributed clocks are only read during power-on. The EtherCAT slave therefore has to be switched off briefly in order for the change to take effect.
7.3.2 Firmware explanation
Determining the firmware version
Determining the version on laser inscription
Beckhoff EtherCAT slaves feature serial numbers applied by laser. The serial number has the following structure: KK YY FF HH
KK - week of production (CW, calendar week) YY - year of production FF - firmware version HH - hardware version
Example with ser. no.: 12 10 03 02:
12 - week of production 12 10 - year of production 2010 03 - firmware version 03 02 - hardware version 02
Determining the version via the System Manager
The TwinCAT System Manager shows the version of the controller firmware if the master can access the slave online. Click on the E-Bus Terminal whose controller firmware you want to check (in the example terminal 2 (EL3204)) and select the tab CoE Online (CAN over EtherCAT).
CoE Online and Offline CoE
Two CoE directories are available: � online: This is offered in the EtherCAT slave by the controller, if the EtherCAT slave supports this. This CoE directory can only be displayed if a slave is connected and operational. � offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. "Beckhoff EL5xxx.xml"). The Advanced button must be used for switching between the two views.
In Fig. Display of EL3204 firmware version the firmware version of the selected EL3204 is shown as 03 in CoE entry 0x100A.
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Fig. 192: Display of EL3204 firmware version In (A) TwinCAT 2.11 shows that the Online CoE directory is currently displayed. If this is not the case, the Online directory can be loaded via the Online option in Advanced Settings (B) and double-clicking on AllObjects.
7.3.3 Updating controller firmware *.efw
CoE directory
The Online CoE directory is managed by the controller and stored in a dedicated EEPROM, which is generally not changed during a firmware update. Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update.
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Fig. 193: Firmware Update Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT 2 and 3 as EtherCAT master.
� Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms). A FW-Update during real time operation is not recommended.
� Switch EtherCAT Master to PreOP
� Switch slave to INIT (A) � Switch slave to BOOTSTRAP
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Appendix � Check the current status (B, C) � Download the new *efw file (wait until it ends). A pass word will not be neccessary usually.
� After the download switch to INIT, then PreOP � Switch off the slave briefly (don't pull under voltage!) � Check within CoE 0x100A, if the FW status was correctly overtaken.
7.3.4 FPGA firmware *.rbf
If an FPGA chip deals with the EtherCAT communication an update may be accomplished via an *.rbf file. � Controller firmware for processing I/O signals � FPGA firmware for EtherCAT communication (only for terminals with FPGA)
The firmware version number included in the terminal serial number contains both firmware components. If one of these firmware components is modified this version number is updated. Determining the version via the System Manager The TwinCAT System Manager indicates the FPGA firmware version. Click on the Ethernet card of your EtherCAT strand (Device 2 in the example) and select the Online tab. The Reg:0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation.
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Fig. 194: FPGA firmware version definition
If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context menu.
Fig. 195: Context menu Properties
The Advanced Settings dialog appears where the columns to be displayed can be selected. Under Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware version display.
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Fig. 196: Dialog Advanced Settings Update For updating the FPGA firmware
� of an EtherCAT coupler the coupler must have FPGA firmware version 11 or higher; � of an E-Bus Terminal the terminal must have FPGA firmware version 10 or higher. Older firmware versions can only be updated by the manufacturer! Updating an EtherCAT device The following sequence order have to be met if no other specifications are given (e.g. by the Beckhoff support): � Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is
4 ms). A FW-Update during real time operation is not recommended.
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� In the TwinCAT System Manager select the terminal for which the FPGA firmware is to be updated (in the example: Terminal 5: EL5001) and click the Advanced Settings button in the EtherCAT tab:
� The Advanced Settings dialog appears. Under ESC Access/E�PROM/FPGA click on Write FPGA button:
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Appendix � Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device:
� Wait until download ends � Switch slave current less for a short time (don't pull under voltage!). In order to activate the new FPGA
firmware a restart (switching the power supply off and on again) of the EtherCAT device is required. � Check the new FPGA status
NOTE Risk of damage to the device!
A download of firmware to an EtherCAT device must not be interrupted in any case! If you interrupt this process by switching off power supply or disconnecting the Ethernet link, the EtherCAT device can only be recommissioned by the manufacturer!
7.3.5 Simultaneous updating of several EtherCAT devices
The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices have the same firmware file/ESI.
Fig. 197: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above.
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7.4
Restoring the delivery state
To restore the delivery state for backup objects in ELxxxx terminals, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode) (see Fig. Selecting the Restore default parameters PDO)
Fig. 198: Selecting the Restore default parameters PDO
Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK (Fig. Entering a restore value in the Set Value dialog). All backup objects are reset to the delivery state.
Fig. 199: Entering a restore value in the Set Value dialog
Alternative restore value
In some older terminals the backup objects can be switched with an alternative restore value: Decimal value: 1819238756, Hexadecimal value: 0x6C6F6164An incorrect entry for the restore value has no effect.
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7.5
Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: https://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of individual Beckhoff products, but also with other, wide-ranging services:
� support � design, programming and commissioning of complex automation systems � and extensive training program for Beckhoff system components
Hotline: Fax: e-mail:
+49 5246 963 157 +49 5246 963 9157 support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service: � on-site service � repair service � spare parts service � hotline service
Hotline: Fax: e-mail:
+49 5246 963 460 +49 5246 963 479 service@beckhoff.com
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20 33415 Verl Germany
Phone: Fax: e-mail: web:
+49 5246 963 0 +49 5246 963 198 info@beckhoff.com https://www.beckhoff.com
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List of illustrations
Fig. 1 EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01)....................................................................................................................................... 11
Fig. 2 EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number......................... 12 Fig. 3 CU2016 switch with serial/ batch number.................................................................................... 12 Fig. 4 EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418 ................... 12 Fig. 5 EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique se-
rial number 158102...................................................................................................................... 13 Fig. 6 EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and
unique serial number 00346070 .................................................................................................. 13 Fig. 7 EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial num-
ber 00331701............................................................................................................................... 13 Fig. 8 ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch num-
ber 44160201............................................................................................................................... 13 Fig. 9 BIC as data matrix code (DMC, code scheme ECC200)............................................................. 14 Fig. 10 EL1258 ........................................................................................................................................ 16 Fig. 11 EL1258-0010 ............................................................................................................................... 16 Fig. 12 EL1259 ........................................................................................................................................ 17 Fig. 13 EL2258 ........................................................................................................................................ 17 Fig. 14 Query of input channel information, standard.............................................................................. 20 Fig. 15 Query of input channel information, oversampling ...................................................................... 21 Fig. 16 Query of input channel information, with timestamp.................................................................... 21 Fig. 17 Output of output channel information, standard........................................................................... 22 Fig. 18 Output of output channel information, oversampling ................................................................... 22 Fig. 19 Output of output channel information, with timestamp................................................................. 22 Fig. 20 Query of input channel information, with multi-timestamp ........................................................... 23 Fig. 21 Output of output channel information, with multi-timestamp........................................................ 24 Fig. 22 System manager current calculation .......................................................................................... 26 Fig. 23 EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog .................................................. 27 Fig. 24 States of the EtherCAT State Machine........................................................................................ 29 Fig. 25 "CoE Online" tab .......................................................................................................................... 31 Fig. 26 Startup list in the TwinCAT System Manager ............................................................................. 32 Fig. 27 Offline list ..................................................................................................................................... 33 Fig. 28 Online list .................................................................................................................................... 33 Fig. 29 Spring contacts of the Beckhoff I/O components......................................................................... 36 Fig. 30 Attaching on mounting rail ........................................................................................................... 37 Fig. 31 Disassembling of terminal............................................................................................................ 38 Fig. 32 Power contact on left side............................................................................................................ 39 Fig. 33 Standard wiring............................................................................................................................ 41 Fig. 34 Pluggable wiring .......................................................................................................................... 41 Fig. 35 High Density Terminals................................................................................................................ 42 Fig. 36 Connecting a cable on a terminal point ....................................................................................... 43 Fig. 37 Recommended distances for standard installation position ........................................................ 45 Fig. 38 Other installation positions .......................................................................................................... 46 Fig. 39 Correct positioning....................................................................................................................... 47 Fig. 40 Incorrect positioning..................................................................................................................... 47 Fig. 41 EL1258 ........................................................................................................................................ 49
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Fig. 42 EL1258-0010 ............................................................................................................................... 50 Fig. 43 EL1259 ........................................................................................................................................ 51 Fig. 44 EL2258 ........................................................................................................................................ 52 Fig. 45 Relationship between user side (commissioning) and installation............................................... 54 Fig. 46 Control configuration with Embedded PC, input (EL1004) and output (EL2008) ........................ 55 Fig. 47 Initial TwinCAT 2 user interface................................................................................................... 56 Fig. 48 Selection of the target system ..................................................................................................... 57 Fig. 49 Specify the PLC for access by the TwinCAT System Manager: selection of the target system .. 57 Fig. 50 Select "Scan Devices..." .............................................................................................................. 58 Fig. 51 Automatic detection of I/O devices: selection the devices to be integrated................................. 58 Fig. 52 Mapping of the configuration in the TwinCAT 2 System Manager............................................... 59 Fig. 53 Reading of individual terminals connected to a device................................................................ 59 Fig. 54 TwinCAT PLC Control after startup ............................................................................................. 60 Fig. 55 Sample program with variables after a compile process (without variable integration) ............... 61 Fig. 56 Appending the TwinCAT PLC Control project ............................................................................. 61 Fig. 57 PLC project integrated in the PLC configuration of the System Manager ................................... 62 Fig. 58 Creating the links between PLC variables and process objects .................................................. 62 Fig. 59 Selecting PDO of type BOOL ...................................................................................................... 63 Fig. 60 Selecting several PDOs simultaneously: activate "Continuous" and "All types" .......................... 63 Fig. 61 Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample ........................ 64 Fig. 62 Choose target system (remote) ................................................................................................... 65 Fig. 63 PLC Control logged in, ready for program startup ....................................................................... 66 Fig. 64 Initial TwinCAT 3 user interface................................................................................................... 67 Fig. 65 Create new TwinCAT project....................................................................................................... 67 Fig. 66 New TwinCAT3 project in the project folder explorer .................................................................. 68 Fig. 67 Selection dialog: Choose the target system ................................................................................ 68 Fig. 68 Specify the PLC for access by the TwinCAT System Manager: selection of the target system .. 69 Fig. 69 Select "Scan" ............................................................................................................................... 69 Fig. 70 Automatic detection of I/O devices: selection the devices to be integrated................................. 70 Fig. 71 Mapping of the configuration in VS shell of the TwinCAT3 environment..................................... 70 Fig. 72 Reading of individual terminals connected to a device................................................................ 71 Fig. 73 Adding the programming environment in "PLC" .......................................................................... 72 Fig. 74 Specifying the name and directory for the PLC programming environment ................................ 72 Fig. 75 Initial "Main" program of the standard PLC project ...................................................................... 73 Fig. 76 Sample program with variables after a compile process (without variable integration) ............... 74 Fig. 77 Start program compilation............................................................................................................ 74 Fig. 78 Creating the links between PLC variables and process objects .................................................. 75 Fig. 79 Selecting PDO of type BOOL ...................................................................................................... 75 Fig. 80 Selecting several PDOs simultaneously: activate "Continuous" and "All types" .......................... 76 Fig. 81 Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample ........................ 76 Fig. 82 Creating a PLC data type ............................................................................................................ 77 Fig. 83 Instance_of_struct ....................................................................................................................... 77 Fig. 84 Linking the structure .................................................................................................................... 78 Fig. 85 Reading a variable from the structure of the process data .......................................................... 78 Fig. 86 TwinCAT development environment (VS shell): logged-in, after program startup....................... 79 Fig. 87 System Manager "Options" (TwinCAT 2)..................................................................................... 80
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Fig. 88 Call up under VS Shell (TwinCAT 3) ........................................................................................... 80 Fig. 89 Overview of network interfaces ................................................................................................... 81 Fig. 90 EtherCAT device properties(TwinCAT 2): click on "Compatible Devices..." of tab "Adapte"" ..... 81 Fig. 91 Windows properties of the network interface............................................................................... 82 Fig. 92 Exemplary correct driver setting for the Ethernet port ................................................................. 82 Fig. 93 Incorrect driver settings for the Ethernet port ............................................................................. 83 Fig. 94 TCP/IP setting for the Ethernet port ............................................................................................ 84 Fig. 95 Identifier structure ....................................................................................................................... 85 Fig. 96 OnlineDescription information window (TwinCAT 2) ................................................................... 86 Fig. 97 Information window OnlineDescription (TwinCAT 3) ................................................................... 86 Fig. 98 File OnlineDescription.xml created by the System Manager ...................................................... 87 Fig. 99 Indication of an online recorded ESI of EL2521 as an example .................................................. 87 Fig. 100 Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3).................................. 87 Fig. 101 Using the ESI Updater (>= TwinCAT 2.11).................................................................................. 89 Fig. 102 Using the ESI Updater (TwinCAT 3)............................................................................................ 89 Fig. 103 Append EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) ................................................... 90 Fig. 104 Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3)............................................... 90 Fig. 105 Selecting the Ethernet port ......................................................................................................... 90 Fig. 106 EtherCAT device properties (TwinCAT 2) ................................................................................... 91 Fig. 107 Appending EtherCAT devices (left: TwinCAT 2; right: TwinCAT 3)............................................. 91 Fig. 108 Selection dialog for new EtherCAT device ................................................................................. 92 Fig. 109 Display of device revision ........................................................................................................... 92 Fig. 110 Display of previous revisions ...................................................................................................... 93 Fig. 111 Name/revision of the terminal ...................................................................................................... 93 Fig. 112 EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3).............................. 94 Fig. 113 Differentiation local/target system (left: TwinCAT 2; right: TwinCAT 3)....................................... 95 Fig. 114 Scan Devices (left: TwinCAT 2; right: TwinCAT 3) ...................................................................... 95 Fig. 115 Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3)........................................... 95 Fig. 116 Detected Ethernet devices .......................................................................................................... 96 Fig. 117 Example default state .................................................................................................................. 96 Fig. 118 Installing EthetCAT terminal with revision -1018 ......................................................................... 97 Fig. 119 Detection of EtherCAT terminal with revision -1019 .................................................................... 97 Fig. 120 Scan query after automatic creation of an EtherCAT device (left: TwinCAT 2; right: Twin-
CAT 3) ......................................................................................................................................... 97 Fig. 121 Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT 2; right:
TwinCAT 3).................................................................................................................................. 98 Fig. 122 Scan progressexemplary by TwinCAT 2 ..................................................................................... 98 Fig. 123 Config/FreeRun query (left: TwinCAT 2; right: TwinCAT 3)......................................................... 98 Fig. 124 Displaying of "Free Run" and "Config Mode" toggling right below in the status bar .................... 98 Fig. 125 TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: Twin-
CAT 3) ......................................................................................................................................... 98 Fig. 126 Online display example ............................................................................................................... 99 Fig. 127 Faulty identification ...................................................................................................................... 99 Fig. 128 Identical configuration (left: TwinCAT 2; right: TwinCAT 3) ......................................................... 100 Fig. 129 Correction dialog ......................................................................................................................... 100 Fig. 130 Name/revision of the terminal ...................................................................................................... 101 Fig. 131 Correction dialog with modifications ........................................................................................... 102
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Fig. 132 Dialog "Change to Compatible Type..." (left: TwinCAT 2; right: TwinCAT 3) .............................. 102 Fig. 133 TwinCAT 2 Dialog Change to Alternative Type ........................................................................... 102 Fig. 134 Branch element as terminal EL3751............................................................................................ 103 Fig. 135 "General" tab................................................................................................................................ 103 Fig. 136 "EtherCAT" tab............................................................................................................................. 104 Fig. 137 "Process Data" tab....................................................................................................................... 105 Fig. 138 Configuring the process data....................................................................................................... 106 Fig. 139 "Startup" tab................................................................................................................................. 107 Fig. 140 "CoE - Online" tab........................................................................................................................ 108 Fig. 141 Dialog "Advanced settings".......................................................................................................... 109 Fig. 142 "Online" tab .................................................................................................................................. 109 Fig. 143 "DC" tab (Distributed Clocks)....................................................................................................... 110 Fig. 144 Selection of the diagnostic information of an EtherCAT Slave ................................................... 112 Fig. 145 Basic EtherCAT Slave Diagnosis in the PLC............................................................................... 113 Fig. 146 EL3102, CoE directory ................................................................................................................ 115 Fig. 147 Example of commissioning aid for a EL3204 .............................................................................. 116 Fig. 148 Default behaviour of the System Manager .................................................................................. 117 Fig. 149 Default target state in the Slave .................................................................................................. 117 Fig. 150 PLC function blocks .................................................................................................................... 118 Fig. 151 Illegally exceeding the E-Bus current ......................................................................................... 119 Fig. 152 Warning message for exceeding E-Bus current ......................................................................... 119 Fig. 153 Microcycle 0xF900:09 & macrocycle 0xF900:08 in the CoE ....................................................... 122 Fig. 154 Microcycle 0xF900:09 & macrocycle 0xF900:08 in the CoE ....................................................... 122 Fig. 155 Option for setting of compatibility modes in relation to EL1252/EL2252 ..................................... 124 Fig. 156 Setting multi-timestamping via "predefined PDO" ....................................................................... 124 Fig. 157 Free selection of the PDO ........................................................................................................... 125 Fig. 158 Event logger message from the System Manager in the event of invalid PDO combination....... 125 Fig. 159 Inputs and outputs in the project tree .......................................................................................... 126 Fig. 160 Operating mode selection in CoE from 0x80n0 ........................................................................... 127 Fig. 161 Setting in CoE x80n0:12 Asynchronous operation ...................................................................... 129 Fig. 162 Process data selection (predefined PDO) for synchronous transfer............................................ 129 Fig. 163 Process data selection (predefined PDO) for asynchronous transfer.......................................... 129 Fig. 164 Different MTSF ............................................................................................................................ 129 Fig. 165 Setting in CoE x80n0:01 & x80n0:14 for digital filter ................................................................... 130 Fig. 166 Timestamp via online display....................................................................................................... 131 Fig. 167 Predefined PDOs for compatibility mode..................................................................................... 131 Fig. 168 Inputs and outputs in the project tree .......................................................................................... 133 Fig. 169 Operating mode selection in CoE from 0x80n1 ........................................................................... 135 Fig. 170 EnableTimeCeck Mode 1-3 ......................................................................................................... 136 Fig. 171 Manual control ............................................................................................................................. 136 Fig. 172 Output in +24 V continuous mode ............................................................................................... 137 Fig. 173 Process data selection (predefined PDO) for synchronous transfer............................................ 137 Fig. 174 Predefined PDOs for compatibility mode..................................................................................... 138 Fig. 175 Activation of the master distributed clock display ........................................................................ 139 Fig. 176 Extended process image of the EtherCAT master ...................................................................... 140 Fig. 177 Setting SysTime........................................................................................................................... 141
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Fig. 178 Opening the *. tnzip archive......................................................................................................... 293 Fig. 179 Search of the existing HW configuration for the EtherCAT configuration of the example ........... 293 Fig. 180 Recording of four channels by the Multi-Timestamp program example ...................................... 294 Fig. 181 Recommended structure for the EL1258 sample program.......................................................... 297 Fig. 182 CoE object 0x8000 (MTI settings ch.1): Settings for the sample program .................................. 298 Fig. 183 Sample program EL1258 / Visualization_1: simple time measurement based on two state
changes ....................................................................................................................................... 298 Fig. 184 Sample program EL1258 / Visualization_2: Display of incoming events in chronological order
according to the timestamps of the EL1258 ................................................................................ 298 Fig. 185 Query of the "EventInInputBuffer" of the EL1258: Are there any other events stored in the ter-
minal? .......................................................................................................................................... 299 Fig. 186 Device identifier consisting of name EL3204-0000 and revision -0016 ...................................... 302 Fig. 187 Scan the subordinate field by right-clicking on the EtherCAT device .......................................... 303 Fig. 188 Configuration is identical ............................................................................................................. 303 Fig. 189 Change dialog ............................................................................................................................. 304 Fig. 190 EEPROM Update ........................................................................................................................ 304 Fig. 191 Selecting the new ESI.................................................................................................................. 305 Fig. 192 Display of EL3204 firmware version ............................................................................................ 306 Fig. 193 Firmware Update ......................................................................................................................... 307 Fig. 194 FPGA firmware version definition ............................................................................................... 309 Fig. 195 Context menu Properties ............................................................................................................ 309 Fig. 196 Dialog Advanced Settings ........................................................................................................... 310 Fig. 197 Multiple selection and firmware update ...................................................................................... 312 Fig. 198 Selecting the Restore default parameters PDO........................................................................... 313 Fig. 199 Entering a restore value in the Set Value dialog.......................................................................... 313
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More Information: www.beckhoff.com/en-us/products/i-o/ethercat-terminals/ el1xxx-digital-input/
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