Boxes

VLS_EP8_EP7041-1002

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	VLS_EP8_EP7041-1002
ID	1
BootStrapData	0010f400f410f400
SyncMan	001000012600010001000000400000010001001026010000
SyncMan	001100012200010002000000400000010001001122010000
SyncMan	001208002400010003000000000000000800001224010000
SyncMan	001908002000010004000000000000000800001920010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001900010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..2] OF BIT
Control__Digital output 1	#x7010	BIT
Control__		ARRAY [0..3] OF BIT

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

VLS_EP9_EP7041-1002

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	VLS_EP9_EP7041-1002
ID	2
BootStrapData	0010f400f410f400
SyncMan	001000012600010001000000400000010001001026010000
SyncMan	001100012200010002000000400000010001001122010000
SyncMan	001208002400010003000000000000000800001224010000
SyncMan	001908002000010004000000000000000800001920010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001900010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..2] OF BIT
Control__Digital output 1	#x7010	BIT
Control__		ARRAY [0..3] OF BIT

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

VLS_EP6_EP7041-1002

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	VLS_EP6_EP7041-1002
ID	3
BootStrapData	0010f400f410f400
SyncMan	001000012600010001000000400000010001001026010000
SyncMan	001100012200010002000000400000010001001122010000
SyncMan	001208002400010003000000000000000800001224010000
SyncMan	001908002000010004000000000000000800001920010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001900010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..2] OF BIT
Control__Digital output 1	#x7010	BIT
Control__		ARRAY [0..3] OF BIT

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

VLS_EP7_EP7041-1002

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	VLS_EP7_EP7041-1002
ID	4
BootStrapData	0010f400f410f400
SyncMan	001000012600010001000000400000010001001026010000
SyncMan	001100012200010002000000400000010001001122010000
SyncMan	001208002400010003000000000000000800001224010000
SyncMan	001908002000010004000000000000000800001920010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001900010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..2] OF BIT
Control__Digital output 1	#x7010	BIT
Control__		ARRAY [0..3] OF BIT

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Term 5 (EK1200)

EtherCAT

Basic Settings
Name	Data
Name	Term 5 (EK1200)
ID	5

Term 6 (EK1122-0080)

EtherCAT

Basic Settings
Name	Data
Name	Term 6 (EK1122-0080)
ID	6

DRL02-EK0 (EK1101-0080)

EtherCAT (1 PDOs)

Basic Settings
Name	Data
Name	DRL02-EK0 (EK1101-0080)
ID	7
SyncMan	001002000000010004000000000000000000001000000000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO ID (Index #x1a00, Flags #x0010, SyncMan 0)

Name	Comment	BitLen	Index	Type
ID			#x6000	UINT

DRL02-E1 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E1 (EL7031)
ID	8
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E2 (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	DRL02-E2 (EL5042)
ID	9
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

DRL02-E3 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E3 (EL7031)
ID	10
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E4 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E4 (EL7031)
ID	11
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E5 (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	DRL02-E5 (EL5042)
ID	12
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

DRL02-E6 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E6 (EL7031)
ID	13
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E7 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E7 (EL7031)
ID	14
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E8 (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	DRL02-E8 (EL5042)
ID	15
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

DRL02-E9 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E9 (EL7031)
ID	16
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E10 (EL9410)

EtherCAT (2 PDOs)

Basic Settings
Name	Data
Name	DRL02-E10 (EL9410)
ID	17
SyncMan	001001000000010004000000000000000000001000000000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO Status Us (Index #x1a00, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Undervoltage			#x6000	BIT

PDO Status Up (Index #x1a01, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Undervoltage			#x6010	BIT

DRL02-E11 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E11 (EL7031)
ID	18
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E12 (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	DRL02-E12 (EL5042)
ID	19
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

DRL02-E13 (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	DRL02-E13 (EL7041)
ID	20
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Term 22 (EL6070)

EtherCAT

Basic Settings
Name	Data
Name	Term 22 (EL6070)
ID	22
SyncMan	001000012600010001000000300000010001001026010000
SyncMan	001100012200010002000000300000010001001122010000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	43914121

DRL02-E17 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E17 (EL7031)
ID	24
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E18 (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	DRL02-E18 (EL5042)
ID	25
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

DRL02-E19 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E19 (EL7031)
ID	26
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E20 (EL9410)

EtherCAT (2 PDOs)

Basic Settings
Name	Data
Name	DRL02-E20 (EL9410)
ID	27
SyncMan	001001000000010004000000000000000000001000000000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO Status Us (Index #x1a00, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Undervoltage			#x6000	BIT

PDO Status Up (Index #x1a01, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Undervoltage			#x6010	BIT

DRL02-E21 (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	DRL02-E21 (EL7041)
ID	28
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E22 (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	DRL02-E22 (EL5042)
ID	29
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

DRL02-E23 (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	DRL02-E23 (EL7041)
ID	30
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E24 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E24 (EL7031)
ID	31
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E25 (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	DRL02-E25 (EL5042)
ID	32
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

DRL02-E26 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E26 (EL7031)
ID	33
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E27 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E27 (EL7031)
ID	34
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E28 (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	DRL02-E28 (EL5042)
ID	35
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Warning	#x6000	BIT
Error	#x6000	BIT
Ready	#x6000	BIT
None		ARRAY [0..4] OF BIT
None		ARRAY [0..3] OF BIT
Diag	#x6000	BIT
TxPDO State	#x6000	BIT
Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Warning	#x6010	BIT
Error	#x6010	BIT
Ready	#x6010	BIT
None		ARRAY [0..4] OF BIT
None		ARRAY [0..3] OF BIT
Diag	#x6010	BIT
TxPDO State	#x6010	BIT
Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Warning	#x6000	BIT
Error	#x6000	BIT
Ready	#x6000	BIT
None		ARRAY [0..4] OF BIT
None		ARRAY [0..3] OF BIT
Diag	#x6000	BIT
TxPDO State	#x6000	BIT
Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Warning	#x6010	BIT
Error	#x6010	BIT
Ready	#x6010	BIT
None		ARRAY [0..4] OF BIT
None		ARRAY [0..3] OF BIT
Diag	#x6010	BIT
TxPDO State	#x6010	BIT
Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

DRL02-E29 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E29 (EL7031)
ID	36
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E30 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E30 (EL7031)
ID	37
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-ECJ0 (EK1122-0080)

EtherCAT

Basic Settings
Name	Data
Name	DRL02-ECJ0 (EK1122-0080)
ID	38

DRL02-ECJ1 (EK1122)

EtherCAT

Basic Settings
Name	Data
Name	DRL02-ECJ1 (EK1122)
ID	39

Term 40 (EL6695)

EtherCAT (6 PDOs)

Basic Settings
Name	Data
Name	Term 40 (EL6695)
ID	40
BootStrapData	0010140200141402
SyncMan	0010000426000100010000008000da050004001026010000
SyncMan	0016000422000100020000008000da050004001622010000
SyncMan	001c00006400000003000000000000000000001c64010000
SyncMan	008e02002000010004000000000000000200008e20010000
Fmmu	0000000000000000000000020000000001000000000000000000000000000000
Fmmu	0000000000000000008e00010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	5001

PDO SYNC Inputs (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Comment	Index	Type
None			ARRAY [0..11] OF BIT
TxPDO toggle	Bit toggles when new data from other side received	#x1801	BIT
TxPDO state	0: Other side is in OP state >0: Error	#x1801	BIT
None			ARRAY [0..0] OF BIT
External device not connected	0: External device connected 1: External device not connected	#x10f4	BIT

PDO SYNC Inputs (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	Index	Type
Sync Mode	0: no Syncronisation 1: Secondary side is Sync Master 2: Primary side is Sync Master	#x10f4	BIT2
None			ARRAY [0..9] OF BIT
TxPDO toggle	Bit toggles when new data from other side received	#x1802	BIT
TxPDO state	0: Other side is in OP state >0: Error	#x1802	BIT
Timestamp update toggle	Bit toggles when new timestamp data available	#x10f4	BIT
External device not connected	0: External device connected 1: External device not connected	#x10f4	BIT
Internal time stamp		#x10f4	ULINT
External time stamp		#x10f4	ULINT
None			UDINT

PDO SYNC Inputs (Index #x1a03, Flags #x0010, SyncMan )

Name	Comment	Index	Type
Sync Mode	0: no Syncronisation 1: Secondary side is Sync Master 2: Primary side is Sync Master	#x10f4	BIT2
None			ARRAY [0..9] OF BIT
TxPDO toggle	Bit toggles when new data from other side received	#x1803	BIT
TxPDO state	0: Other side is in OP state >0: Error	#x1803	BIT
Timestamp update toggle	Bit toggles when new timestamp data available	#x10f4	BIT
External device not connected	0: External device connected 1: External device not connected	#x10f4	BIT
Internal time stamp		#x10f4	UDINT
External time stamp		#x10f4	UDINT
None			UDINT

PDO FOE Info (Index #x1a05, Flags #x0020, SyncMan )

Name	Comment	BitLen	Index	Type
Data Bytes Pending			#xf650	UINT

PDO IO Inputs (Index #x1a08, Flags #x0020, SyncMan 3)

PDO IO Outputs (Index #x1608, Flags #x0020, SyncMan 2)

DRL02-E31 (EL9011)

EtherCAT

Basic Settings
Name	Data
Name	DRL02-E31 (EL9011)
ID	41

VLS_EP10_EP7041-3102

EtherCAT (19 PDOs)

Basic Settings
Name	Data
Name	VLS_EP10_EP7041-3102
ID	43
BootStrapData	0010f400f410f400
SyncMan	001000012600010001000000400000010001001026010000
SyncMan	001100012200010002000000400000010001001122010000
SyncMan	001208002400010003000000000000000800001224010000
SyncMan	001908002000010004000000000000000800001920010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001900010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__Motor stall	#x6010	BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Motor load			#x6010	UINT

PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a07, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..2] OF BIT
Control__Digital output 1	#x7010	BIT
Control__		ARRAY [0..3] OF BIT

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

VLS_EP11_EP7041-3102

EtherCAT (19 PDOs)

Basic Settings
Name	Data
Name	VLS_EP11_EP7041-3102
ID	44
BootStrapData	0010f400f410f400
SyncMan	001000012600010001000000400000010001001026010000
SyncMan	001100012200010002000000400000010001001122010000
SyncMan	001208002400010003000000000000000800001224010000
SyncMan	001908002000010004000000000000000800001920010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001900010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__Motor stall	#x6010	BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Motor load			#x6010	UINT

PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a07, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..2] OF BIT
Control__Digital output 1	#x7010	BIT
Control__		ARRAY [0..3] OF BIT

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

VLS_EP12_EP7041-3102

EtherCAT (19 PDOs)

Basic Settings
Name	Data
Name	VLS_EP12_EP7041-3102
ID	45
BootStrapData	0010f400f410f400
SyncMan	001000012600010001000000400000010001001026010000
SyncMan	001100012200010002000000400000010001001122010000
SyncMan	001208002400010003000000000000000800001224010000
SyncMan	001908002000010004000000000000000800001920010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001900010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__Motor stall	#x6010	BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Motor load			#x6010	UINT

PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a07, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..2] OF BIT
Control__Digital output 1	#x7010	BIT
Control__		ARRAY [0..3] OF BIT

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

VLS_EP13_EP7041-3102

EtherCAT (19 PDOs)

Basic Settings
Name	Data
Name	VLS_EP13_EP7041-3102
ID	46
BootStrapData	0010f400f410f400
SyncMan	001000012600010001000000400000010001001026010000
SyncMan	001100012200010002000000400000010001001122010000
SyncMan	001208002400010003000000000000000800001224010000
SyncMan	001908002000010004000000000000000800001920010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001900010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__Motor stall	#x6010	BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Motor load			#x6010	UINT

PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a07, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..2] OF BIT
Control__Digital output 1	#x7010	BIT
Control__		ARRAY [0..3] OF BIT

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Term 63 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	Term 63 (EL7031)
ID	63
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Term 64 (EL5112)

EtherCAT (35 PDOs)

Basic Settings
Name	Data
Name	Term 64 (EL5112)
ID	64
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000800000018000001026010000
SyncMan	001180002200010002000000800000018000001122010000
SyncMan	001206002400010003000000000000000600001224010000
SyncMan	001310002000010004000000000000001000001320010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001300010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	33493897

PDO ENC Status Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__Latch extern 2 valid	#x6002	BIT
Status__Direction inversion detected	#x6002	BIT
Status__Status of extern latch	#x6002	BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT
Latch value 2	#x6000	UDINT

PDO ENC Status Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__Latch extern 2 valid	#x6002	BIT
Status__Direction inversion detected	#x6002	BIT
Status__Status of extern latch	#x6002	BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT
Latch value 2	#x6000	UINT

PDO ENC Status Channel 1 (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Status Compact Channel 1 (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status Counter Channel 1 (Index #x1a04, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6000	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6000	UDINT

PDO ENC Status Compact Counter Channel 1 (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6000	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6000	UINT

PDO ENC Status Legacy Channel 1 (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Status Compact Legacy Channel 1 (Index #x1a07, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Frequency Channel 1 (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6000	UDINT

PDO ENC Frequency Compact Channel 1 (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6000	UINT

PDO ENC Period Channel 1 (Index #x1a0a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6000	UDINT

PDO ENC Period Compact Channel 1 (Index #x1a0b, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6000	UINT

PDO ENC Duty Cycle Channel 1 (Index #x1a0c, Flags #x0010, SyncMan )

Name	Index	Type
Duty cycle	#x6000	UINT
Duty cycle min	#x6000	UINT
Duty cycle max	#x6000	UINT

PDO ENC Timestamp Channel 1 (Index #x1a0d, Flags #x0010, SyncMan )

Name	Index	Type
Timestamp	#x6000	ULINT
Timestamp C	#x6000	ULINT
Timestamp latch	#x6000	ULINT
Timestamp latch 2	#x6000	ULINT

PDO ENC Timestamp Compact Channel 1 (Index #x1a0e, Flags #x0010, SyncMan )

Name	Index	Type
Timestamp	#x6000	UDINT
Timestamp C	#x6000	UDINT
Timestamp latch	#x6000	UDINT
Timestamp latch 2	#x6000	UDINT

PDO ENC Status Channel 2 (Index #x1a11, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6010	BIT
Status__Set counter done	#x6010	BIT
Status__Counter underflow	#x6010	BIT
Status__Counter overflow	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6010	BIT
Status__Status of input B	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6010	BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6012	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6010	UDINT
Latch value	#x6010	UDINT

PDO ENC Status Compact Channel 2 (Index #x1a12, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6010	BIT
Status__Set counter done	#x6010	BIT
Status__Counter underflow	#x6010	BIT
Status__Counter overflow	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6010	BIT
Status__Status of input B	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6010	BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6012	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6010	UINT
Latch value	#x6010	UINT

PDO ENC Status Counter Channel 2 (Index #x1a13, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6010	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6010	UDINT

PDO ENC Status Compact Counter Channel 2 (Index #x1a14, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6010	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6010	UINT

PDO ENC Frequency Channel 2 (Index #x1a17, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6010	UDINT

PDO ENC Frequency Compact Channel 2 (Index #x1a18, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6010	UINT

PDO ENC Period Channel 2 (Index #x1a19, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6010	UDINT

PDO ENC Period Compact Channel 2 (Index #x1a1a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6010	UINT

PDO ENC Control Channel 1 (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Control__Set counter on latch C	#x7000	BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__Enable latch extern 2 on positive edge	#x7000	BIT
Control__Enable latch extern 2 on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Channel 1 (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Control__Set counter on latch C	#x7000	BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__Enable latch extern 2 on positive edge	#x7000	BIT
Control__Enable latch extern 2 on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Channel 1 (Index #x1602, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Channel 1 (Index #x1603, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Counter Channel 1 (Index #x1604, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7000	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Counter Channel 1 (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7000	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Legacy Channel 1 (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..11] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Legacy Channel 1 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..11] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Channel 2 (Index #x160a, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7010	BIT
Control__Set counter	#x7010	BIT
Control__Enable latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7010	BIT
Control__Set counter on latch extern on positive edge	#x7010	BIT
Control__Set counter on latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7010	UDINT

PDO ENC Control Compact Channel 2 (Index #x160b, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7010	BIT
Control__Set counter	#x7010	BIT
Control__Enable latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7010	BIT
Control__Set counter on latch extern on positive edge	#x7010	BIT
Control__Set counter on latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7010	UINT

PDO ENC Control Counter Channel 2 (Index #x160c, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7010	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7010	UDINT

PDO ENC Control Compact Counter Channel 2 (Index #x160d, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7010	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7010	UINT

Term 65 (EL1084)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Term 65 (EL1084)
ID	65
SyncMan	001001000000010004000000000000000100001000010000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO Channel 1 (Index #x1a00, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6000	BIT

PDO Channel 2 (Index #x1a01, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6010	BIT

PDO Channel 3 (Index #x1a02, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6020	BIT

PDO Channel 4 (Index #x1a03, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6030	BIT

Term 66 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	Term 66 (EL7031)
ID	66
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Term 67 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	Term 67 (EL7031)
ID	67
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Term 68 (EL1084)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Term 68 (EL1084)
ID	68
SyncMan	001001000000010004000000000000000100001000010000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO Channel 1 (Index #x1a00, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6000	BIT

PDO Channel 2 (Index #x1a01, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6010	BIT

PDO Channel 3 (Index #x1a02, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6020	BIT

PDO Channel 4 (Index #x1a03, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6030	BIT

Term 69 (EL5112)

EtherCAT (35 PDOs)

Basic Settings
Name	Data
Name	Term 69 (EL5112)
ID	69
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000800000018000001026010000
SyncMan	001180002200010002000000800000018000001122010000
SyncMan	001206002400010003000000000000000600001224010000
SyncMan	001310002000010004000000000000001000001320010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001300010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	33493897

PDO ENC Status Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__Latch extern 2 valid	#x6002	BIT
Status__Direction inversion detected	#x6002	BIT
Status__Status of extern latch	#x6002	BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT
Latch value 2	#x6000	UDINT

PDO ENC Status Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__Latch extern 2 valid	#x6002	BIT
Status__Direction inversion detected	#x6002	BIT
Status__Status of extern latch	#x6002	BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT
Latch value 2	#x6000	UINT

PDO ENC Status Channel 1 (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Status Compact Channel 1 (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status Counter Channel 1 (Index #x1a04, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6000	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6000	UDINT

PDO ENC Status Compact Counter Channel 1 (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6000	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6000	UINT

PDO ENC Status Legacy Channel 1 (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Status Compact Legacy Channel 1 (Index #x1a07, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Frequency Channel 1 (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6000	UDINT

PDO ENC Frequency Compact Channel 1 (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6000	UINT

PDO ENC Period Channel 1 (Index #x1a0a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6000	UDINT

PDO ENC Period Compact Channel 1 (Index #x1a0b, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6000	UINT

PDO ENC Duty Cycle Channel 1 (Index #x1a0c, Flags #x0010, SyncMan )

Name	Index	Type
Duty cycle	#x6000	UINT
Duty cycle min	#x6000	UINT
Duty cycle max	#x6000	UINT

PDO ENC Timestamp Channel 1 (Index #x1a0d, Flags #x0010, SyncMan )

Name	Index	Type
Timestamp	#x6000	ULINT
Timestamp C	#x6000	ULINT
Timestamp latch	#x6000	ULINT
Timestamp latch 2	#x6000	ULINT

PDO ENC Timestamp Compact Channel 1 (Index #x1a0e, Flags #x0010, SyncMan )

Name	Index	Type
Timestamp	#x6000	UDINT
Timestamp C	#x6000	UDINT
Timestamp latch	#x6000	UDINT
Timestamp latch 2	#x6000	UDINT

PDO ENC Status Channel 2 (Index #x1a11, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6010	BIT
Status__Set counter done	#x6010	BIT
Status__Counter underflow	#x6010	BIT
Status__Counter overflow	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6010	BIT
Status__Status of input B	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6010	BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6012	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6010	UDINT
Latch value	#x6010	UDINT

PDO ENC Status Compact Channel 2 (Index #x1a12, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6010	BIT
Status__Set counter done	#x6010	BIT
Status__Counter underflow	#x6010	BIT
Status__Counter overflow	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6010	BIT
Status__Status of input B	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6010	BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6012	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6010	UINT
Latch value	#x6010	UINT

PDO ENC Status Counter Channel 2 (Index #x1a13, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6010	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6010	UDINT

PDO ENC Status Compact Counter Channel 2 (Index #x1a14, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6010	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6010	UINT

PDO ENC Frequency Channel 2 (Index #x1a17, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6010	UDINT

PDO ENC Frequency Compact Channel 2 (Index #x1a18, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6010	UINT

PDO ENC Period Channel 2 (Index #x1a19, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6010	UDINT

PDO ENC Period Compact Channel 2 (Index #x1a1a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6010	UINT

PDO ENC Control Channel 1 (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Control__Set counter on latch C	#x7000	BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__Enable latch extern 2 on positive edge	#x7000	BIT
Control__Enable latch extern 2 on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Channel 1 (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Control__Set counter on latch C	#x7000	BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__Enable latch extern 2 on positive edge	#x7000	BIT
Control__Enable latch extern 2 on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Channel 1 (Index #x1602, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Channel 1 (Index #x1603, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Counter Channel 1 (Index #x1604, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7000	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Counter Channel 1 (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7000	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Legacy Channel 1 (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..11] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Legacy Channel 1 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..11] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Channel 2 (Index #x160a, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7010	BIT
Control__Set counter	#x7010	BIT
Control__Enable latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7010	BIT
Control__Set counter on latch extern on positive edge	#x7010	BIT
Control__Set counter on latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7010	UDINT

PDO ENC Control Compact Channel 2 (Index #x160b, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7010	BIT
Control__Set counter	#x7010	BIT
Control__Enable latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7010	BIT
Control__Set counter on latch extern on positive edge	#x7010	BIT
Control__Set counter on latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7010	UINT

PDO ENC Control Counter Channel 2 (Index #x160c, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7010	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7010	UDINT

PDO ENC Control Compact Counter Channel 2 (Index #x160d, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7010	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7010	UINT

DRL02-E31 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E31 (EL7031)
ID	73
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL02-E32 (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	DRL02-E32 (EL5042)
ID	74
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

DRL02-E33 (EL7031)

EtherCAT (18 PDOs)

Basic Settings
Name	Data
Name	DRL02-E33 (EL7031)
ID	75
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..2] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__Ready to execute	#x6020	BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Actual position lag			#x6020	DINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

DRL-02 E34 (EL3174)

EtherCAT (8 PDOs)

Basic Settings
Name	Data
Name	DRL-02 E34 (EL3174)
ID	79
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000800080008000001026010000
SyncMan	801080002200010002000000800080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801110002000010004000000000000001000801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	19665801
CoeProfile	19665801
CoeProfile	19665801
CoeProfile	19665801

PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Comment	Index	Type
Status__Underrange	Bit set when upper value limit exceeded	#x6000	BIT
Status__Overrange	Bit set when lower value limit exceeded	#x6000	BIT
Status__Limit 1	Bit0: Value greater than Limit1 Bit1: Value smaller than Limit1	#x6000	BIT2
Status__Limit 2	Bit0: Value greater than Limit2 Bit1: Value smaller than Limit2	#x6000	BIT2
Status__Error	Bit set when Over- or Underrange	#x6000	BIT
Status__			ARRAY [0..0] OF BIT
Status__			ARRAY [0..4] OF BIT
Status__Sync error		#x6000	BIT
Status__TxPDO State		#x6000	BIT
Status__TxPDO Toggle		#x6000	BIT
Value		#x6000	INT

PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Value			#x6000	INT

PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)

Name	Comment	Index	Type
Status__Underrange	Bit set when upper value limit exceeded	#x6010	BIT
Status__Overrange	Bit set when lower value limit exceeded	#x6010	BIT
Status__Limit 1	Bit0: Value greater than Limit1 Bit1: Value smaller than Limit1	#x6010	BIT2
Status__Limit 2	Bit0: Value greater than Limit2 Bit1: Value smaller than Limit2	#x6010	BIT2
Status__Error	Bit set when Over- or Underrange	#x6010	BIT
Status__			ARRAY [0..0] OF BIT
Status__			ARRAY [0..4] OF BIT
Status__Sync error		#x6010	BIT
Status__TxPDO State		#x6010	BIT
Status__TxPDO Toggle		#x6010	BIT
Value		#x6010	INT

PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Value			#x6010	INT

PDO AI Standard Channel 3 (Index #x1a04, Flags #x0010, SyncMan 3)

Name	Comment	Index	Type
Status__Underrange	Bit set when upper value limit exceeded	#x6020	BIT
Status__Overrange	Bit set when lower value limit exceeded	#x6020	BIT
Status__Limit 1	Bit0: Value greater than Limit1 Bit1: Value smaller than Limit1	#x6020	BIT2
Status__Limit 2	Bit0: Value greater than Limit2 Bit1: Value smaller than Limit2	#x6020	BIT2
Status__Error	Bit set when Over- or Underrange	#x6020	BIT
Status__			ARRAY [0..0] OF BIT
Status__			ARRAY [0..4] OF BIT
Status__Sync error		#x6020	BIT
Status__TxPDO State		#x6020	BIT
Status__TxPDO Toggle		#x6020	BIT
Value		#x6020	INT

PDO AI Compact Channel 3 (Index #x1a05, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Value			#x6020	INT

PDO AI Standard Channel 4 (Index #x1a06, Flags #x0010, SyncMan 3)

Name	Comment	Index	Type
Status__Underrange	Bit set when upper value limit exceeded	#x6030	BIT
Status__Overrange	Bit set when lower value limit exceeded	#x6030	BIT
Status__Limit 1	Bit0: Value greater than Limit1 Bit1: Value smaller than Limit1	#x6030	BIT2
Status__Limit 2	Bit0: Value greater than Limit2 Bit1: Value smaller than Limit2	#x6030	BIT2
Status__Error	Bit set when Over- or Underrange	#x6030	BIT
Status__			ARRAY [0..0] OF BIT
Status__			ARRAY [0..4] OF BIT
Status__Sync error		#x6030	BIT
Status__TxPDO State		#x6030	BIT
Status__TxPDO Toggle		#x6030	BIT
Value		#x6030	INT

PDO AI Compact Channel 4 (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Value			#x6030	INT

Term 83 (EK1521-0010)

EtherCAT

Basic Settings
Name	Data
Name	Term 83 (EK1521-0010)
ID	83

CryoStat (EK1101)

EtherCAT (1 PDOs)

Basic Settings
Name	Data
Name	CryoStat (EK1101)
ID	84
SyncMan	001002000000010004000000000000000000001000000000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO ID (Index #x1a00, Flags #x0010, SyncMan 0)

Name	Comment	BitLen	Index	Type
ID			#x6000	UINT

Cryo X (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Cryo X (EL7041)
ID	85
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Cryo X/Cryo Y Enc (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Cryo X/Cryo Y Enc (EL5042)
ID	86
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

Cryo Y (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Cryo Y (EL7041)
ID	87
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Cryo Z (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Cryo Z (EL7041)
ID	88
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Cryo Z/Cryo rY Enc (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Cryo Z/Cryo rY Enc (EL5042)
ID	89
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

Cryo rY (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Cryo rY (EL7041)
ID	90
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Term 91 (EL5112)

EtherCAT (35 PDOs)

Basic Settings
Name	Data
Name	Term 91 (EL5112)
ID	91
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000800000018000001026010000
SyncMan	001180002200010002000000800000018000001122010000
SyncMan	00120c002400010003000000000000000600001224010000
SyncMan	001318002000010004000000000000001000001320010000
Fmmu	0000000000000000001200020100000001000000000000000000000000000000
Fmmu	0000000000000000001300010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	33493897

PDO ENC Status Channel 1 (Index #x1a00, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__Latch extern 2 valid	#x6002	BIT
Status__Direction inversion detected	#x6002	BIT
Status__Status of extern latch	#x6002	BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT
Latch value 2	#x6000	UDINT

PDO ENC Status Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__Latch extern 2 valid	#x6002	BIT
Status__Direction inversion detected	#x6002	BIT
Status__Status of extern latch	#x6002	BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT
Latch value 2	#x6000	UINT

PDO ENC Status Channel 1 (Index #x1a02, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Status Compact Channel 1 (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6000	BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6002	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status Counter Channel 1 (Index #x1a04, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6000	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6000	UDINT

PDO ENC Status Compact Counter Channel 1 (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6000	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6002	BIT
Status__TxPDO State	#x6002	BIT
Status__Input cycle counter	#x6002	BIT2
Status__Software gate valid	#x6002	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6000	UINT

PDO ENC Status Legacy Channel 1 (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Status Compact Legacy Channel 1 (Index #x1a07, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__Status of input status	#x6000	BIT
Status__Open circuit	#x6000	BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__Status of input gate	#x6000	BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Frequency Channel 1 (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6000	UDINT

PDO ENC Frequency Compact Channel 1 (Index #x1a09, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6000	UINT

PDO ENC Period Channel 1 (Index #x1a0a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6000	UDINT

PDO ENC Period Compact Channel 1 (Index #x1a0b, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6000	UINT

PDO ENC Duty Cycle Channel 1 (Index #x1a0c, Flags #x0010, SyncMan )

Name	Index	Type
Duty cycle	#x6000	UINT
Duty cycle min	#x6000	UINT
Duty cycle max	#x6000	UINT

PDO ENC Timestamp Channel 1 (Index #x1a0d, Flags #x0010, SyncMan )

Name	Index	Type
Timestamp	#x6000	ULINT
Timestamp C	#x6000	ULINT
Timestamp latch	#x6000	ULINT
Timestamp latch 2	#x6000	ULINT

PDO ENC Timestamp Compact Channel 1 (Index #x1a0e, Flags #x0010, SyncMan )

Name	Index	Type
Timestamp	#x6000	UDINT
Timestamp C	#x6000	UDINT
Timestamp latch	#x6000	UDINT
Timestamp latch 2	#x6000	UDINT

PDO ENC Status Channel 2 (Index #x1a11, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6010	BIT
Status__Set counter done	#x6010	BIT
Status__Counter underflow	#x6010	BIT
Status__Counter overflow	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6010	BIT
Status__Status of input B	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6010	BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6012	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6010	UDINT
Latch value	#x6010	UDINT

PDO ENC Status Compact Channel 2 (Index #x1a12, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..0] OF BIT
Status__Latch extern valid	#x6010	BIT
Status__Set counter done	#x6010	BIT
Status__Counter underflow	#x6010	BIT
Status__Counter overflow	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Open circuit	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input A	#x6010	BIT
Status__Status of input B	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of input gate	#x6010	BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BIT
Status__Counter value out of range	#x6012	BIT
Status__		ARRAY [0..10] OF BIT
Counter value	#x6010	UINT
Latch value	#x6010	UINT

PDO ENC Status Counter Channel 2 (Index #x1a13, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6010	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6010	UDINT

PDO ENC Status Compact Counter Channel 2 (Index #x1a14, Flags #x0010, SyncMan )

Name	Index	Type
Status__		ARRAY [0..1] OF BIT
Status__Set counter done	#x6010	BIT
Status__		ARRAY [0..8] OF BIT
Status__Diag	#x6012	BIT
Status__TxPDO State	#x6012	BIT
Status__Input cycle counter	#x6012	BIT2
Status__Software gate valid	#x6012	BIT
Status__		ARRAY [0..14] OF BIT
Counter value	#x6010	UINT

PDO ENC Frequency Channel 2 (Index #x1a17, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6010	UDINT

PDO ENC Frequency Compact Channel 2 (Index #x1a18, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Frequency value			#x6010	UINT

PDO ENC Period Channel 2 (Index #x1a19, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6010	UDINT

PDO ENC Period Compact Channel 2 (Index #x1a1a, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Period value			#x6010	UINT

PDO ENC Control Channel 1 (Index #x1600, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Control__Set counter on latch C	#x7000	BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__Enable latch extern 2 on positive edge	#x7000	BIT
Control__Enable latch extern 2 on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Channel 1 (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Control__Set counter on latch C	#x7000	BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__Enable latch extern 2 on positive edge	#x7000	BIT
Control__Enable latch extern 2 on negative edge	#x7000	BIT
Control__		ARRAY [0..2] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Channel 1 (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Channel 1 (Index #x1603, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7000	BIT
Control__Set counter on latch extern on positive edge	#x7000	BIT
Control__Set counter on latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Counter Channel 1 (Index #x1604, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7000	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Counter Channel 1 (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7000	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7000	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Legacy Channel 1 (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..11] OF BIT
Set counter value	#x7000	UDINT

PDO ENC Control Compact Legacy Channel 1 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..11] OF BIT
Set counter value	#x7000	UINT

PDO ENC Control Channel 2 (Index #x160a, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7010	BIT
Control__Set counter	#x7010	BIT
Control__Enable latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7010	BIT
Control__Set counter on latch extern on positive edge	#x7010	BIT
Control__Set counter on latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7010	UDINT

PDO ENC Control Compact Channel 2 (Index #x160b, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..0] OF BIT
Control__Enable latch extern on positive edge	#x7010	BIT
Control__Set counter	#x7010	BIT
Control__Enable latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..3] OF BIT
Control__Set software gate	#x7010	BIT
Control__Set counter on latch extern on positive edge	#x7010	BIT
Control__Set counter on latch extern on negative edge	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Set counter value	#x7010	UINT

PDO ENC Control Counter Channel 2 (Index #x160c, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7010	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7010	UDINT

PDO ENC Control Compact Counter Channel 2 (Index #x160d, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Set counter	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__Set software gate	#x7010	BIT
Control__		ARRAY [0..6] OF BIT
Set counter value	#x7010	UINT

Term 92 (EL9011)

EtherCAT

Basic Settings
Name	Data
Name	Term 92 (EL9011)
ID	93

Term 107 (EL9410)

EtherCAT (2 PDOs)

Basic Settings
Name	Data
Name	Term 107 (EL9410)
ID	107
SyncMan	001001000000010004000000000000000000001000000000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO Status Us (Index #x1a00, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Undervoltage			#x6000	BIT

PDO Status Up (Index #x1a01, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Undervoltage			#x6010	BIT

Term 109 (EK1101-0080)

EtherCAT (1 PDOs)

Basic Settings
Name	Data
Name	Term 109 (EK1101-0080)
ID	109
SyncMan	001002000000010004000000000000000000001000000000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO ID (Index #x1a00, Flags #x0010, SyncMan 0)

Name	Comment	BitLen	Index	Type
ID			#x6000	UINT

Camera X (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Camera X (EL7041)
ID	111
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Cam X/Cam Y Enc (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Cam X/Cam Y Enc (EL5042)
ID	112
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

Term 113 (EK1101-0080)

EtherCAT (1 PDOs)

Basic Settings
Name	Data
Name	Term 113 (EK1101-0080)
ID	113
SyncMan	001002000000010004000000000000000000001000000000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO ID (Index #x1a00, Flags #x0010, SyncMan 0)

Name	Comment	BitLen	Index	Type
ID			#x6000	UINT

Beamblock X (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Beamblock X (EL7041)
ID	114
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Beam X/Beam Y Enc (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Beam X/Beam Y Enc (EL5042)
ID	115
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

Beamblock Y (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Beamblock Y (EL7041)
ID	116
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Beamblock Z (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Beamblock Z (EL7041)
ID	117
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Beam Z Enc (EL5042)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Beam Z Enc (EL5042)
ID	118
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

Camera Y (EL7041)

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Camera Y (EL7041)
ID	122
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Term 129 (EL9011)

EtherCAT

Basic Settings
Name	Data
Name	Term 129 (EL9011)
ID	130

Term 130 (EL9011)

EtherCAT

Basic Settings
Name	Data
Name	Term 130 (EL9011)
ID	131

Term 142 (EL2502)

EtherCAT (6 PDOs)

Basic Settings
Name	Data
Name	Term 142 (EL2502)
ID	142
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000800080008000001026010000
SyncMan	801080002200010002000000800080008000801022010000
SyncMan	001104002400010003000000000000000400001124010000
SyncMan	801100000000000004000000000000000000801100000000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	16389001
CoeProfile	16389001

PDO PWM Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
PWM output			#x7000	UINT

PDO PWM Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
PWM output			#x7010	UINT

PDO PWM Outputs Channel 1 (Index #x1602, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
PWM output			#x7000	UINT
PWM period			#x7000	UINT

PDO PWM Outputs Channel 2 (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
PWM output			#x7010	UINT
PWM period			#x7010	UINT

PDO PWM Outputs Channel 1 (Index #x1604, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
PWM output			#x7000	UINT
PWM period 1Hz			#x7000	UDINT

PDO PWM Outputs Channel 2 (Index #x1605, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
PWM output			#x7010	UINT
PWM period 1Hz			#x7010	UDINT

DRL02-ECJ2 (EK1122)

EtherCAT

Basic Settings
Name	Data
Name	DRL02-ECJ2 (EK1122)
ID	148

Catcher (EK1100)

EtherCAT

Basic Settings
Name	Data
Name	Catcher (EK1100)
ID	149

Catcher_E1_EL7041

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Catcher_E1_EL7041
ID	150
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Catcher_E2_EL5042

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Catcher_E2_EL5042
ID	151
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

Catcher_E3_EL7041

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Catcher_E3_EL7041
ID	152
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Catcher_E4_EL7041

EtherCAT (17 PDOs)

Basic Settings
Name	Data
Name	Catcher_E4_EL7041
ID	153
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801108002000010004000000000000000800801120010000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33493897
CoeProfile	46076809
CoeProfile	46142345

PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UINT
Latch value	#x6000	UINT

PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan )

Name	Index	Type
Status__Latch C valid	#x6000	BIT
Status__Latch extern valid	#x6000	BIT
Status__Set counter done	#x6000	BIT
Status__Counter underflow	#x6000	BIT
Status__Counter overflow	#x6000	BIT
Status__		ARRAY [0..1] OF BIT
Status__Extrapolation stall	#x6000	BIT
Status__Status of input A	#x6000	BIT
Status__Status of input B	#x6000	BIT
Status__Status of input C	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__Status of extern latch	#x6000	BIT
Status__Sync error	#x6000	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6000	BIT
Counter value	#x6000	UDINT
Latch value	#x6000	UDINT

PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Timestamp			#x6000	UDINT

PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Ready to enable	#x6010	BIT
Status__Ready	#x6010	BIT
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Moving positive	#x6010	BIT
Status__Moving negative	#x6010	BIT
Status__Torque reduced	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..2] OF BIT
Status__Digital input 1	#x6010	BIT
Status__Digital input 2	#x6010	BIT
Status__Sync error	#x6010	BIT
Status__		ARRAY [0..0] OF BIT
Status__TxPDO Toggle	#x6010	BIT

PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Info data 1			#x6010	UINT
Info data 2			#x6010	UINT

PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE

PDO POS Status (Index #x1a06, Flags #x0010, SyncMan )

Name	Index	Type
Status__Busy	#x6020	BIT
Status__In-Target	#x6020	BIT
Status__Warning	#x6020	BIT
Status__Error	#x6020	BIT
Status__Calibrated	#x6020	BIT
Status__Accelerate	#x6020	BIT
Status__Decelerate	#x6020	BIT
Status__		ARRAY [0..0] OF BIT
Status__		ARRAY [0..0] OF BYTE
Actual position	#x6020	UDINT
Actual velocity	#x6020	INT
Actual drive time	#x6020	UDINT

PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Internal position			#x6010	UDINT

PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
External position			#x6010	UDINT

PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UINT

PDO ENC Control (Index #x1601, Flags #x0010, SyncMan )

Name	Index	Type
Control__Enable latch C	#x7000	BIT
Control__Enable latch extern on positive edge	#x7000	BIT
Control__Set counter	#x7000	BIT
Control__Enable latch extern on negative edge	#x7000	BIT
Control__		ARRAY [0..3] OF BIT
Control__		ARRAY [0..0] OF BYTE
Set counter value	#x7000	UDINT

PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2)

Name	Index	Type
Control__Enable	#x7010	BIT
Control__Reset	#x7010	BIT
Control__Reduce torque	#x7010	BIT
Control__		ARRAY [0..4] OF BIT
Control__		ARRAY [0..0] OF BYTE

PDO STM Position (Index #x1603, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Position			#x7010	UDINT

PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)

Name	Comment	BitLen	Index	Type
Velocity			#x7010	INT

PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT

PDO POS Control (Index #x1606, Flags #x0010, SyncMan )

Name	Index	Type
Control__Execute	#x7020	BIT
Control__Emergency stop	#x7020	BIT
Control__		ARRAY [0..5] OF BIT
Control__		ARRAY [0..0] OF BYTE
Target position	#x7020	UDINT
Velocity	#x7020	INT
Start type	#x7020	UINT
Acceleration	#x7020	UINT
Deceleration	#x7020	UINT

PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan )

Name	Index	Type
Control__		ARRAY [0..1] OF BIT
Control__Enable auto start	#x7021	BIT
Control__		ARRAY [0..12] OF BIT
Target position	#x7021	UDINT
Velocity	#x7021	INT
Start type	#x7021	UINT
Acceleration	#x7021	UINT
Deceleration	#x7021	UINT

Catcher_E5_EL5042

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Catcher_E5_EL5042
ID	154
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000400080008000001026010000
SyncMan	801080002200010002000000400080008000801022010000
SyncMan	001100000400000003000000000000000000001104000000
SyncMan	801114002000010004000000000000001400801120010000
Fmmu	0000000000000000801100010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	33624969
CoeProfile	33624969

PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	ULINT

PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	ULINT

PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6000	BIT
Status__Error	#x6000	BIT
Status__Ready	#x6000	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6000	BIT
Status__TxPDO State	#x6000	BIT
Status__Input cycle counter	#x6000	BIT2
Position	#x6000	UDINT

PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan )

Name	Index	Type
Status__Warning	#x6010	BIT
Status__Error	#x6010	BIT
Status__Ready	#x6010	BIT
Status__		ARRAY [0..4] OF BIT
Status__		ARRAY [0..3] OF BIT
Status__Diag	#x6010	BIT
Status__TxPDO State	#x6010	BIT
Status__Input cycle counter	#x6010	BIT2
Position	#x6010	UDINT

FiberLite (EL4004)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	FiberLite (EL4004)
ID	158
BootStrapData	0010f400f410f400
SyncMan	001080002600010001000000800080008000001026010000
SyncMan	801080002200010002000000800080008000801022010000
SyncMan	001108002400010003000000000000000800001124010000
SyncMan	801100000000000004000000000000000000801100000000
Fmmu	0000000000000000001100020100000001000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	26219401
CoeProfile	26219401
CoeProfile	26219401
CoeProfile	26219401

PDO AO Outputs Channel 1 (Index #x1600, Flags #x0011, SyncMan 2)

Name	Comment	BitLen	Index	Type
Analog output			#x7000	INT

PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)

Name	Comment	BitLen	Index	Type
Analog output			#x7010	INT

PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)

Name	Comment	BitLen	Index	Type
Analog output			#x7020	INT

PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)

Name	Comment	BitLen	Index	Type
Analog output			#x7030	INT

Term 160 (EL9011)

EtherCAT

Basic Settings
Name	Data
Name	Term 160 (EL9011)
ID	160

Term 166 (EK1501-0010)

EtherCAT (1 PDOs)

Basic Settings
Name	Data
Name	Term 166 (EK1501-0010)
ID	166
SyncMan	001002000000010004000000000000000000001000000000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO ID (Index #x1a00, Flags #x0010, SyncMan 0)

Name	Comment	BitLen	Index	Type
ID			#x6000	UINT

Term 167 (EK1122)

EtherCAT

Basic Settings
Name	Data
Name	Term 167 (EK1122)
ID	167

CRIX_VAC_INTF (EL6695-0002)

EtherCAT (6 PDOs)

Basic Settings
Name	Data
Name	CRIX_VAC_INTF (EL6695-0002)
ID	168
BootStrapData	0010140200141402
SyncMan	0010000426000100010000008000da050004001026010000
SyncMan	0016000422000100020000008000da050004001622010000
SyncMan	001c06006400010003000000000000000000001c64010000
SyncMan	008e08002000010004000000000000000200008e20010000
Fmmu	0000000000000000001c00020100000001000000000000000000000000000000
Fmmu	0000000000000000008e00010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	5001

PDO SYNC Inputs (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Comment	Index	Type
None			ARRAY [0..11] OF BIT
TxPDO toggle	Bit toggles when new data from other side received	#x1801	BIT
TxPDO state	0: Other side is in OP state >0: Error	#x1801	BIT
None			ARRAY [0..0] OF BIT
External device not connected	0: External device connected 1: External device not connected	#x10f4	BIT

PDO SYNC Inputs (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	Index	Type
Sync Mode	0: no Syncronisation 1: Secondary side is Sync Master 2: Primary side is Sync Master	#x10f4	BIT2
None			ARRAY [0..9] OF BIT
TxPDO toggle	Bit toggles when new data from other side received	#x1802	BIT
TxPDO state	0: Other side is in OP state >0: Error	#x1802	BIT
Timestamp update toggle	Bit toggles when new timestamp data available	#x10f4	BIT
External device not connected	0: External device connected 1: External device not connected	#x10f4	BIT
Internal time stamp		#x10f4	ULINT
External time stamp		#x10f4	ULINT
None			UDINT

PDO SYNC Inputs (Index #x1a03, Flags #x0010, SyncMan )

Name	Comment	Index	Type
Sync Mode	0: no Syncronisation 1: Secondary side is Sync Master 2: Primary side is Sync Master	#x10f4	BIT2
None			ARRAY [0..9] OF BIT
TxPDO toggle	Bit toggles when new data from other side received	#x1803	BIT
TxPDO state	0: Other side is in OP state >0: Error	#x1803	BIT
Timestamp update toggle	Bit toggles when new timestamp data available	#x10f4	BIT
External device not connected	0: External device connected 1: External device not connected	#x10f4	BIT
Internal time stamp		#x10f4	UDINT
External time stamp		#x10f4	UDINT
None			UDINT

PDO FOE Info (Index #x1a05, Flags #x0020, SyncMan )

Name	Comment	BitLen	Index	Type
Data Bytes Pending			#xf650	UINT

PDO IO Inputs (Index #x1a08, Flags #x0020, SyncMan 3)

Name	Index	Type
bCRYO_VGC_01_CLS	#x6000	BOOL
bCRYO_VGC_01_OPN	#x6000	BOOL
bCRYO_VGC_02_CLS	#x6000	BOOL
bCRYO_VGC_02_OPN	#x6000	BOOL
bSDS_VGC_01_CLS	#x6000	BOOL
bSDS_VGC_01_OPN	#x6000	BOOL

PDO IO Outputs (Index #x1608, Flags #x0020, SyncMan 2)

Name	Index	Type
bMOTY10_IN	#x7000	BOOL
bMOTY10_OUT	#x7000	BOOL
bMOTY11_IN	#x7000	BOOL
bMOTY11_OUT	#x7000	BOOL
bMOTSDSZ18_IN	#x7000	BOOL
bMOTSDSZ18_OUT	#x7000	BOOL

PMPS_FFO

EtherCAT (2 PDOs)

Basic Settings
Name	Data
Name	PMPS_FFO
ID	169
SyncMan	000f01004400010003000000000000000000000f44090000
Fmmu	0000000000000000000f00020100000001000000060000000000000000000000

PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Output			#x7000	BIT
TriState			#x7000	BIT

PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Output			#x7010	BIT
TriState			#x7010	BIT

PMPS_PRE

EtherCAT (6 PDOs)

Basic Settings
Name	Data
Name	PMPS_PRE
ID	170
BootStrapData	0010140200141402
SyncMan	0010000426000100010000008000da050004001026010000
SyncMan	0016000422000100020000008000da050004001622010000
SyncMan	001cdc006400010003000000000000000000001c64010000
SyncMan	008ede002000010004000000000000000200008e20010000
Fmmu	0000000000000000001c00020100000001000000000000000000000000000000
Fmmu	0000000000000000008e00010100000002000000000000000000000000000000
Fmmu	00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile	5001

PDO SYNC Inputs (Index #x1a01, Flags #x0010, SyncMan 3)

Name	Comment	BitLen	Index	Type
None		12		ARRAY [0..11] OF BIT
TxPDO toggle	Bit toggles when new data from other side received	1	#x1801	BIT
TxPDO state	0: Other side is in OP state >0: Error	1	#x1801	BIT
None		1		ARRAY [0..0] OF BIT
External device not connected	0: External device connected 1: External device not connected	1	#x10f4	BIT

PDO SYNC Inputs (Index #x1a02, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Sync Mode	0: no Syncronisation 1: Secondary side is Sync Master 2: Primary side is Sync Master	2	#x10f4	BIT2
None		10		ARRAY [0..9] OF BIT
TxPDO toggle	Bit toggles when new data from other side received	1	#x1802	BIT
TxPDO state	0: Other side is in OP state >0: Error	1	#x1802	BIT
Timestamp update toggle	Bit toggles when new timestamp data available	1	#x10f4	BIT
External device not connected	0: External device connected 1: External device not connected	1	#x10f4	BIT
Internal time stamp		64	#x10f4	ULINT
External time stamp		64	#x10f4	ULINT
None		32		ARRAY [0..3] OF BYTE

PDO SYNC Inputs (Index #x1a03, Flags #x0010, SyncMan )

Name	Comment	BitLen	Index	Type
Sync Mode	0: no Syncronisation 1: Secondary side is Sync Master 2: Primary side is Sync Master	2	#x10f4	BIT2
None		10		ARRAY [0..9] OF BIT
TxPDO toggle	Bit toggles when new data from other side received	1	#x1803	BIT
TxPDO state	0: Other side is in OP state >0: Error	1	#x1803	BIT
Timestamp update toggle	Bit toggles when new timestamp data available	1	#x10f4	BIT
External device not connected	0: External device connected 1: External device not connected	1	#x10f4	BIT
Internal time stamp		32	#x10f4	UDINT
External time stamp		32	#x10f4	UDINT
None		32		ARRAY [0..3] OF BYTE

PDO FOE Info (Index #x1a05, Flags #x0020, SyncMan )

Name	Comment	BitLen	Index	Type
Data Bytes Pending		16	#xf650	UINT

PDO IO Inputs (Index #x1a08, Flags #x0020, SyncMan 3)

Name	Comment	BitLen	Index	Type
CurrentBP		240	#x6000	ST_BeamParams_IO

PDO IO Outputs (Index #x1608, Flags #x0020, SyncMan 2)

Name	Comment	BitLen	Index	Type
RequestedBP		240	#x7000	ST_BeamParams_IO

Term 172 (EL9505)

EtherCAT (1 PDOs)

Basic Settings
Name	Data
Name	Term 172 (EL9505)
ID	172
SyncMan	001001000000010004000000000000000000001000000000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO Status Uo (Index #x1a00, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Power OK			#x6000	BIT
Overload			#x6000	BIT

Term 173 (EL1124)

EtherCAT (4 PDOs)

Basic Settings
Name	Data
Name	Term 173 (EL1124)
ID	173
SyncMan	001001000000010004000000000000000100001000010000
Fmmu	0000000000000000001000010100000002000000000000000000000000000000

PDO Channel 1 (Index #x1a00, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6000	BIT

PDO Channel 2 (Index #x1a01, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6010	BIT

PDO Channel 3 (Index #x1a02, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6020	BIT

PDO Channel 4 (Index #x1a03, Flags #x0011, SyncMan 0)

Name	Comment	BitLen	Index	Type
Input			#x6030	BIT

Term 177 (EL9011)

EtherCAT

Basic Settings
Name	Data
Name	Term 177 (EL9011)
ID	177