Boxes
-----
Power (EK1200)
^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Power (EK1200)
ID, 1
.. raw:: html
License (EL6070)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, License (EL6070)
ID, 2
SyncMan, 001000012600010001000000300000010001001026010000
SyncMan, 001100012200010002000000300000010001001122010000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 43914121
.. raw:: html
PMPS_FFO
^^^^^^^^
.. raw:: html
EtherCAT (2 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PMPS_FFO
ID, 3
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000060000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
"TriState", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
"TriState", "", , "#x7010", "BIT"
.. raw:: html
PMPS_PRE
^^^^^^^^
.. raw:: html
EtherCAT (6 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PMPS_PRE
ID, 4
BootStrapData, 0010140200141402
SyncMan, 0010000426000100010000008000da050004001026010000
SyncMan, 0016000422000100020000008000da050004001622010000
SyncMan, 001c5c016400010003000000000000000000001c64010000
SyncMan, 008e5e012000010004000000000000000200008e20010000
Fmmu, 0000000000000000001c00020100000001000000000000000000000000000000
Fmmu, 0000000000000000008e00010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 5001
PDO SYNC Inputs (Index #x1a01, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Data Bytes Pending", "", 16, "#xf650", "UINT"
PDO IO Inputs (Index #x1a08, Flags #x0020, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"SattArrayReq", "", 240, "#x6000", "ARRAY [1..16] OF ST_PMPS_Attenuator_IO"
"CurrentBP", "", 240, "#x6000", "ST_BeamParams_IO"
PDO IO Outputs (Index #x1608, Flags #x0020, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"SattArrayStatus", "", 240, "#x7000", "ARRAY [1..16] OF ST_PMPS_Attenuator_IO"
"RequestedBP", "", 240, "#x7000", "ST_BeamParams_IO"
.. raw:: html
PLC End Coupler (EK1110)
^^^^^^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PLC End Coupler (EK1110)
ID, 5
.. raw:: html
EtherCAT Panel (EK1100)
^^^^^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, EtherCAT Panel (EK1100)
ID, 6
.. raw:: html
EC E1 (EK1122)
^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, EC E1 (EK1122)
ID, 7
.. raw:: html
EC E2 (EK1122)
^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, EC E2 (EK1122)
ID, 8
.. raw:: html
AT2K2-EL7047-03
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (19 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL7047-03
ID, 9
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Motor load", "", , "#x6010", "INT"
PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Actual position lag", "", , "#x6020", "DINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 STM Control (Index #x1602, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Enable", "", , "#x7010", "BIT"
"Control__Reset", "", , "#x7010", "BIT"
"Control__Reduce torque", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..0] OF BYTE"
"Control__Digital output 1", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..3] OF BIT"
PDO STM Position (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"Target position", "", , "#x7020", "UDINT"
PDO POS Control (Index #x1606, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
X1 IM1K1-PPM (EK1100)
^^^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, X1 IM1K1-PPM (EK1100)
ID, 10
.. raw:: html
IM1K1-EL7041
^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K1-EL7041
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM1K1-EL5042
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K1-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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM1K1-EL2004
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K1-EL2004
ID, 13
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
IM1K1-EL3314
^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K1-EL3314
ID, 14
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
IM1K1-EL3052
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K1-EL3052
ID, 15
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM1K1-EL3062
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K1-EL3062
ID, 16
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM1K1-EL4004
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K1-EL4004
ID, 17
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
IM1K1-EL9011
^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K1-EL9011
ID, 18
.. raw:: html
X2 IM2K1-PPM (EK1100)
^^^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, X2 IM2K1-PPM (EK1100)
ID, 19
.. raw:: html
IM2K1-EL7041
^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K1-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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM2K1-EL5042
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K1-EL5042
ID, 21
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM2K1-EL2004
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K1-EL2004
ID, 22
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
IM2K1-EL3314
^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K1-EL3314
ID, 23
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
IM2K1-EL3052
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K1-EL3052
ID, 24
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM2K1-EL3062
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K1-EL3062
ID, 25
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM2K1-EL4004
^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K1-EL4004
ID, 26
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
IM2K1-EL9011
^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K1-EL9011
ID, 27
.. raw:: html
AT2K2-EL7047-04
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (19 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL7047-04
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Motor load", "", , "#x6010", "INT"
PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Actual position lag", "", , "#x6020", "DINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 STM Control (Index #x1602, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Enable", "", , "#x7010", "BIT"
"Control__Reset", "", , "#x7010", "BIT"
"Control__Reduce torque", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..0] OF BYTE"
"Control__Digital output 1", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..3] OF BIT"
PDO STM Position (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"Target position", "", , "#x7020", "UDINT"
PDO POS Control (Index #x1606, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AT2K2-EL5042-01
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL5042-01
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AT2K2-EL5042-02
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL5042-02
ID, 30
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AT2K2-EL3202-01
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (2 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL3202-01
ID, 31
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 20976521
CoeProfile, 20976521
PDO RTD Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", 1, "#x6000", "BIT"
"Status__Overrange", "", 1, "#x6000", "BIT"
"Status__Limit 1", "", 2, "#x6000", "BIT2"
"Status__Limit 2", "", 2, "#x6000", "BIT2"
"Status__Error", "", 1, "#x6000", "BIT"
"None", "", 7, "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", 1, "#x1800", "BIT"
"Status__TxPDO Toggle", "", 1, "#x1800", "BIT"
"Value", "", 16, "#x6000", "INT"
PDO RTD Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", 1, "#x6010", "BIT"
"Status__Overrange", "", 1, "#x6010", "BIT"
"Status__Limit 1", "", 2, "#x6010", "BIT2"
"Status__Limit 2", "", 2, "#x6010", "BIT2"
"Status__Error", "", 1, "#x6010", "BIT"
"None", "", 7, "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", 1, "#x1801", "BIT"
"Status__TxPDO Toggle", "", 1, "#x1801", "BIT"
"Value", "", 16, "#x6010", "INT"
.. raw:: html
AT2K2-EL3202-02
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (2 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL3202-02
ID, 32
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 20976521
CoeProfile, 20976521
PDO RTD Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", 1, "#x6000", "BIT"
"Status__Overrange", "", 1, "#x6000", "BIT"
"Status__Limit 1", "", 2, "#x6000", "BIT2"
"Status__Limit 2", "", 2, "#x6000", "BIT2"
"Status__Error", "", 1, "#x6000", "BIT"
"None", "", 7, "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", 1, "#x1800", "BIT"
"Status__TxPDO Toggle", "", 1, "#x1800", "BIT"
"Value", "", 16, "#x6000", "INT"
PDO RTD Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", 1, "#x6010", "BIT"
"Status__Overrange", "", 1, "#x6010", "BIT"
"Status__Limit 1", "", 2, "#x6010", "BIT2"
"Status__Limit 2", "", 2, "#x6010", "BIT2"
"Status__Error", "", 1, "#x6010", "BIT"
"None", "", 7, "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", 1, "#x1801", "BIT"
"Status__TxPDO Toggle", "", 1, "#x1801", "BIT"
"Value", "", 16, "#x6010", "INT"
.. raw:: html
Fiber Coupler (EK1521-0010)
^^^^^^^^^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Fiber Coupler (EK1521-0010)
ID, 33
.. raw:: html
Term 34 (EK1501-0010)
^^^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (1 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 34 (EK1501-0010)
ID, 34
SyncMan, 001002000000010004000000000000000000001000000000
Fmmu, 0000000000000000001000010100000002000000000000000000000000000000
PDO ID (Index #x1a00, Flags #x0010, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"ID", "", , "#x6000", "UINT"
.. raw:: html
Term 35 (EL9410)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (2 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 35 (EL9410)
ID, 35
SyncMan, 001001000000010004000000000000000000001000000000
Fmmu, 0000000000000000001000010100000002000000000000000000000000000000
PDO Status Us (Index #x1a00, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Undervoltage", "", , "#x6000", "BIT"
PDO Status Up (Index #x1a01, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Undervoltage", "", , "#x6010", "BIT"
.. raw:: html
Term 36 (EL2202)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (2 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 36 (EL2202)
ID, 36
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000060000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
"TriState", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
"TriState", "", , "#x7010", "BIT"
.. raw:: html
Term 37 (EL6070)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 37 (EL6070)
ID, 37
SyncMan, 001000012600010001000000300000010001001026010000
SyncMan, 001100012200010002000000300000010001001122010000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 43914121
.. raw:: html
Term 38 (EL6695)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (6 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 38 (EL6695)
ID, 38
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Data Bytes Pending", "", , "#xf650", "UINT"
PDO IO Inputs (Index #x1a08, Flags #x0020, SyncMan 3)
PDO IO Outputs (Index #x1608, Flags #x0020, SyncMan 2)
.. raw:: html
Term 39 (EK1122)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 39 (EK1122)
ID, 39
.. raw:: html
IM1K2-PPM (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K2-PPM (EK1100)
ID, 40
.. raw:: html
IM1K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K2-EL7041-E1
ID, 41
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM1K2-EL5042-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K2-EL5042-E2
ID, 42
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM1K2-EL2004-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K2-EL2004-E3
ID, 43
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
IM1K2-EL3314-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K2-EL3314-E4
ID, 44
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
IM1K2-EL3052-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K2-EL3052-E5
ID, 45
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM1K2-EL3062-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K2-EL3062-E6
ID, 46
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM1K2-EL4004-E7
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K2-EL4004-E7
ID, 47
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
IM1K2-EL9011-E8
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM1K2-EL9011-E8
ID, 48
.. raw:: html
Term 49 (EK1122)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 49 (EK1122)
ID, 49
.. raw:: html
Term 50 (EK1122)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 50 (EK1122)
ID, 50
.. raw:: html
Term 51 (EK1110)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 51 (EK1110)
ID, 51
.. raw:: html
IM2K2-PPM (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K2-PPM (EK1100)
ID, 52
.. raw:: html
IM2K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K2-EL7041-E1
ID, 53
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM2K2-EL5042-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K2-EL5042-E2
ID, 54
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM2K2-EL2004-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K2-EL2004-E3
ID, 55
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
IM2K2-EL3314-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K2-EL3314-E4
ID, 56
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
IM2K2-EL3052-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K2-EL3052-E5
ID, 57
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM2K2-EL3062-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K2-EL3062-E6
ID, 58
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM2K2-EL4004-E7
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K2-EL4004-E7
ID, 59
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
IM2K2-EL9011-E8
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM2K2-EL9011-E8
ID, 60
.. raw:: html
AT2K2-EL3202-03
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (2 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL3202-03
ID, 61
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 20976521
CoeProfile, 20976521
PDO RTD Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", 1, "#x6000", "BIT"
"Status__Overrange", "", 1, "#x6000", "BIT"
"Status__Limit 1", "", 2, "#x6000", "BIT2"
"Status__Limit 2", "", 2, "#x6000", "BIT2"
"Status__Error", "", 1, "#x6000", "BIT"
"None", "", 7, "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", 1, "#x1800", "BIT"
"Status__TxPDO Toggle", "", 1, "#x1800", "BIT"
"Value", "", 16, "#x6000", "INT"
PDO RTD Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", 1, "#x6010", "BIT"
"Status__Overrange", "", 1, "#x6010", "BIT"
"Status__Limit 1", "", 2, "#x6010", "BIT2"
"Status__Limit 2", "", 2, "#x6010", "BIT2"
"Status__Error", "", 1, "#x6010", "BIT"
"None", "", 7, "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", 1, "#x1801", "BIT"
"Status__TxPDO Toggle", "", 1, "#x1801", "BIT"
"Value", "", 16, "#x6010", "INT"
.. raw:: html
AT2K2-EL3202-04
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (2 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL3202-04
ID, 62
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 20976521
CoeProfile, 20976521
PDO RTD Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", 1, "#x6000", "BIT"
"Status__Overrange", "", 1, "#x6000", "BIT"
"Status__Limit 1", "", 2, "#x6000", "BIT2"
"Status__Limit 2", "", 2, "#x6000", "BIT2"
"Status__Error", "", 1, "#x6000", "BIT"
"None", "", 7, "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", 1, "#x1800", "BIT"
"Status__TxPDO Toggle", "", 1, "#x1800", "BIT"
"Value", "", 16, "#x6000", "INT"
PDO RTD Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", 1, "#x6010", "BIT"
"Status__Overrange", "", 1, "#x6010", "BIT"
"Status__Limit 1", "", 2, "#x6010", "BIT2"
"Status__Limit 2", "", 2, "#x6010", "BIT2"
"Status__Error", "", 1, "#x6010", "BIT"
"None", "", 7, "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", 1, "#x1801", "BIT"
"Status__TxPDO Toggle", "", 1, "#x1801", "BIT"
"Value", "", 16, "#x6010", "INT"
.. raw:: html
AT2K2-EL9011
^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL9011
ID, 63
.. raw:: html
AT1K2-SOLID (EK1100)
^^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT1K2-SOLID (EK1100)
ID, 64
.. raw:: html
AT1K2-EL7047-01
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (19 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT1K2-EL7047-01
ID, 65
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Motor load", "", , "#x6010", "INT"
PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Actual position lag", "", , "#x6020", "DINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 STM Control (Index #x1602, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Enable", "", , "#x7010", "BIT"
"Control__Reset", "", , "#x7010", "BIT"
"Control__Reduce torque", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..0] OF BYTE"
"Control__Digital output 1", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..3] OF BIT"
PDO STM Position (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"Target position", "", , "#x7020", "UDINT"
PDO POS Control (Index #x1606, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AT1K2-EL7047-03
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (19 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT1K2-EL7047-03
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Motor load", "", , "#x6010", "INT"
PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Actual position lag", "", , "#x6020", "DINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 STM Control (Index #x1602, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Enable", "", , "#x7010", "BIT"
"Control__Reset", "", , "#x7010", "BIT"
"Control__Reduce torque", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..0] OF BYTE"
"Control__Digital output 1", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..3] OF BIT"
PDO STM Position (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"Target position", "", , "#x7020", "UDINT"
PDO POS Control (Index #x1606, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AT1K2-EL7047-02
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (19 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT1K2-EL7047-02
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Motor load", "", , "#x6010", "INT"
PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Actual position lag", "", , "#x6020", "DINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 STM Control (Index #x1602, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Enable", "", , "#x7010", "BIT"
"Control__Reset", "", , "#x7010", "BIT"
"Control__Reduce torque", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..0] OF BYTE"
"Control__Digital output 1", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..3] OF BIT"
PDO STM Position (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"Target position", "", , "#x7020", "UDINT"
PDO POS Control (Index #x1606, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AT1K2-EL5042-01
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT1K2-EL5042-01
ID, 68
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AT1K2-EL5042-02
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT1K2-EL5042-02
ID, 69
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AT1K2-EL3202-01
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (2 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT1K2-EL3202-01
ID, 70
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 20976521
CoeProfile, 20976521
PDO RTD Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", , "#x6000", "BIT"
"Status__Overrange", "", , "#x6000", "BIT"
"Status__Limit 1", "", , "#x6000", "BIT2"
"Status__Limit 2", "", , "#x6000", "BIT2"
"Status__Error", "", , "#x6000", "BIT"
"None", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", , "#x1800", "BIT"
"Status__TxPDO Toggle", "", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO RTD Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", , "#x6010", "BIT"
"Status__Overrange", "", , "#x6010", "BIT"
"Status__Limit 1", "", , "#x6010", "BIT2"
"Status__Limit 2", "", , "#x6010", "BIT2"
"Status__Error", "", , "#x6010", "BIT"
"None", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", , "#x1801", "BIT"
"Status__TxPDO Toggle", "", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
.. raw:: html
AT1K2-EL3202-02
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (2 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT1K2-EL3202-02
ID, 71
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 20976521
CoeProfile, 20976521
PDO RTD Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", , "#x6000", "BIT"
"Status__Overrange", "", , "#x6000", "BIT"
"Status__Limit 1", "", , "#x6000", "BIT2"
"Status__Limit 2", "", , "#x6000", "BIT2"
"Status__Error", "", , "#x6000", "BIT"
"None", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", , "#x1800", "BIT"
"Status__TxPDO Toggle", "", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO RTD Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "", , "#x6010", "BIT"
"Status__Overrange", "", , "#x6010", "BIT"
"Status__Limit 1", "", , "#x6010", "BIT2"
"Status__Limit 2", "", , "#x6010", "BIT2"
"Status__Error", "", , "#x6010", "BIT"
"None", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "", , "#x1801", "BIT"
"Status__TxPDO Toggle", "", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
.. raw:: html
AT1K2-EL9011
^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT1K2-EL9011
ID, 72
.. raw:: html
Term 73 (EK1122)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 73 (EK1122)
ID, 73
.. raw:: html
Term 74 (EK1122)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 74 (EK1122)
ID, 74
.. raw:: html
Term 75 (EK1110)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 75 (EK1110)
ID, 75
.. raw:: html
AL1K2-L2SI (EK1100)
^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AL1K2-L2SI (EK1100)
ID, 80
.. raw:: html
AL1K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AL1K2-EL7041-E1
ID, 81
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AL1K2-EL5042-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AL1K2-EL5042-E2
ID, 82
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AL1K2-EL2004-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AL1K2-EL2004-E3
ID, 83
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
AL1K2-EL4004-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AL1K2-EL4004-E4
ID, 84
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
IM3K2-PPM (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM3K2-PPM (EK1100)
ID, 90
.. raw:: html
IM3K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM3K2-EL7041-E1
ID, 91
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM3K2-EL5042-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM3K2-EL5042-E2
ID, 92
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM3K2-EL2004-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM3K2-EL2004-E3
ID, 93
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
IM3K2-EL3314-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM3K2-EL3314-E4
ID, 94
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
IM3K2-EL3052-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM3K2-EL3052-E5
ID, 95
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM3K2-EL3062-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM3K2-EL3062-E6
ID, 96
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM3K2-EL4004-E7
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM3K2-EL4004-E7
ID, 97
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
IM4K2-PPM (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM4K2-PPM (EK1100)
ID, 98
.. raw:: html
IM4K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM4K2-EL7041-E1
ID, 99
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM4K2-EL5042-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM4K2-EL5042-E2
ID, 100
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM4K2-EL2004-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM4K2-EL2004-E3
ID, 101
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
IM4K2-EL3314-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM4K2-EL3314-E4
ID, 102
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
IM4K2-EL3052-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM4K2-EL3052-E5
ID, 104
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM4K2-EL3062-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM4K2-EL3062-E6
ID, 105
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM4K2-EL4004-E7
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM4K2-EL4004-E7
ID, 106
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
AT2K2-SOLID (EK1100)
^^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-SOLID (EK1100)
ID, 120
.. raw:: html
AT2K2-EL7047-01
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (19 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL7047-01
ID, 121
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Motor load", "", , "#x6010", "INT"
PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Actual position lag", "", , "#x6020", "DINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 STM Control (Index #x1602, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Enable", "", , "#x7010", "BIT"
"Control__Reset", "", , "#x7010", "BIT"
"Control__Reduce torque", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..0] OF BYTE"
"Control__Digital output 1", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..3] OF BIT"
PDO STM Position (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"Target position", "", , "#x7020", "UDINT"
PDO POS Control (Index #x1606, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
AT2K2-EL7047-02
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (19 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AT2K2-EL7047-02
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO STM Motor load (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Motor load", "", , "#x6010", "INT"
PDO POS Status compact (Index #x1a06, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a09, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO POS Actual position lag (Index #x1a0a, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Actual position lag", "", , "#x6020", "DINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 STM Control (Index #x1602, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Enable", "", , "#x7010", "BIT"
"Control__Reset", "", , "#x7010", "BIT"
"Control__Reduce torque", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..0] OF BYTE"
"Control__Digital output 1", "", , "#x7010", "BIT"
"Control__", "", , "", "ARRAY [0..3] OF BIT"
PDO STM Position (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"Target position", "", , "#x7020", "UDINT"
PDO POS Control (Index #x1606, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Control__Execute", "", , "#x7020", "BIT"
"Control__Emergency stop", "", , "#x7020", "BIT"
"Control__", "", , "", "ARRAY [0..13] OF BIT"
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
Term 123 (EK1100)
^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 123 (EK1100)
ID, 123
.. raw:: html
Term 124 (EK1122)
^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 124 (EK1122)
ID, 124
.. raw:: html
TM1K2-K2A (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM1K2-K2A (EK1100)
ID, 125
.. raw:: html
TM1K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM1K2-EL7041-E1
ID, 126
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
TM1K2-EL7041-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM1K2-EL7041-E2
ID, 127
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
TM1K2-EL5042-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM1K2-EL5042-E3
ID, 128
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
TM1K2-EL2004-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM1K2-EL2004-E4
ID, 129
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
TM1K2-EL3314-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM1K2-EL3314-E5
ID, 130
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
Term 131 (EK1122)
^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 131 (EK1122)
ID, 131
.. raw:: html
LI2K2-K2A_OUT (EK1100)
^^^^^^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI2K2-K2A_OUT (EK1100)
ID, 132
.. raw:: html
LI2K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI2K2-EL7041-E1
ID, 133
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM3K2-EL9011-E8
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM3K2-EL9011-E8
ID, 134
.. raw:: html
IM4K2-EL9011-E8
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM4K2-EL9011-E8
ID, 135
.. raw:: html
Term 140 (EK1122)
^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 140 (EK1122)
ID, 140
.. raw:: html
IM5K2-PPM (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM5K2-PPM (EK1100)
ID, 141
.. raw:: html
IM5K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM5K2-EL7041-E1
ID, 142
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM5K2-EL5042-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM5K2-EL5042-E2
ID, 143
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM5K2-EL2004-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM5K2-EL2004-E3
ID, 144
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
IM5K2-EL3314-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM5K2-EL3314-E4
ID, 145
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
IM5K2-EL3052-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM5K2-EL3052-E5
ID, 146
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM5K2-EL3062-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM5K2-EL3062-E6
ID, 147
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM5K2-EL4004-E7
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM5K2-EL4004-E7
ID, 148
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
TM2K2-K2B (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM2K2-K2B (EK1100)
ID, 149
.. raw:: html
TM2K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM2K2-EL7041-E1
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
TM2K2-EL7041-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM2K2-EL7041-E2
ID, 151
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
TM2K2-EL5042-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM2K2-EL5042-E3
ID, 152
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
TM2K2-EL2004-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM2K2-EL2004-E4
ID, 153
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
TM2K2-EL3314-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM2K2-EL3314-E5
ID, 154
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
Term 155 (EK1122)
^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 155 (EK1122)
ID, 155
.. raw:: html
Term 156 (EK1122)
^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 156 (EK1122)
ID, 156
.. raw:: html
Term 157 (EK1122)
^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 157 (EK1122)
ID, 157
.. raw:: html
LI2K2-EL2004-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI2K2-EL2004-E2
ID, 177
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
LI2K2-EL5042-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI2K2-EL5042-E3
ID, 178
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
PF1K2-WFS (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF1K2-WFS (EK1100)
ID, 179
.. raw:: html
PF1K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF1K2-EL7041-E1
ID, 180
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
PF1K2-EL7041-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF1K2-EL7041-E2
ID, 181
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
PF1K2-EL5042-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF1K2-EL5042-E3
ID, 182
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
PF1K2-EL2004-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF1K2-EL2004-E4
ID, 183
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
PF1K2-EL3314-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF1K2-EL3314-E5
ID, 184
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
TM1K2-EL9011-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM1K2-EL9011-E6
ID, 189
.. raw:: html
IM5K2-EL9011-E8
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM5K2-EL9011-E8
ID, 191
.. raw:: html
TM2K2-EL9011-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, TM2K2-EL9011-E6
ID, 192
.. raw:: html
LI3K2-K2B (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI3K2-K2B (EK1100)
ID, 230
.. raw:: html
LI3K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI3K2-EL7041-E1
ID, 231
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
LI3K2-EL5042-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI3K2-EL5042-E2
ID, 232
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
LI3K2-EL2004-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI3K2-EL2004-E3
ID, 233
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
LI3K2-EL3314-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI3K2-EL3314-E4
ID, 234
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
AL1K2-EL9011-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, AL1K2-EL9011-E5
ID, 235
.. raw:: html
LI3K2-EL3052-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI3K2-EL3052-E5
ID, 236
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
LI3K2-EL3062-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI3K2-EL3062-E6
ID, 237
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
LI3K2-EL4004-E7
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI3K2-EL4004-E7
ID, 238
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
LI2K2-EL9011-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI2K2-EL9011-E4
ID, 240
.. raw:: html
PF1K2-EL9011-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF1K2-EL9011-E6
ID, 241
.. raw:: html
PF2K2-WFS (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF2K2-WFS (EK1100)
ID, 242
.. raw:: html
PF2K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF2K2-EL7041-E1
ID, 243
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
PF2K2-EL7041-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF2K2-EL7041-E2
ID, 244
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
PF2K2-EL5042-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF2K2-EL5042-E3
ID, 245
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
PF2K2-EL2004-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF2K2-EL2004-E4
ID, 246
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
PF2K2-EL3314-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF2K2-EL3314-E5
ID, 247
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
IM6K2-PPM (EK1100)
^^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM6K2-PPM (EK1100)
ID, 248
.. raw:: html
IM6K2-EL7041-E1
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM6K2-EL7041-E1
ID, 249
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Timestamp", "", , "#x6000", "UDINT"
PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Info data 1", "", , "#x6010", "UINT"
"Info data 2", "", , "#x6010", "UINT"
PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Internal position", "", , "#x6010", "UDINT"
PDO STM External position (Index #x1a08, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"External position", "", , "#x6010", "UDINT"
PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Position", "", , "#x7010", "UDINT"
PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Velocity", "", , "#x7010", "INT"
PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM6K2-EL5042-E2
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM6K2-EL5042-E2
ID, 250
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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 )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"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"
.. raw:: html
IM6K2-EL2004-E3
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM6K2-EL2004-E3
ID, 251
SyncMan, 000f01004400010003000000000000000000000f44090000
Fmmu, 0000000000000000000f00020100000001000000000000000000000000000000
PDO Channel 1 (Index #x1600, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7000", "BIT"
PDO Channel 2 (Index #x1601, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7010", "BIT"
PDO Channel 3 (Index #x1602, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7020", "BIT"
PDO Channel 4 (Index #x1603, Flags #x0011, SyncMan 0)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Output", "", , "#x7030", "BIT"
.. raw:: html
IM6K2-EL3314-E4
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (8 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM6K2-EL3314-E4
ID, 252
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100002400000003000000000000000000001124000000
SyncMan, 801110002000010004000000000000001000801120010000
Fmmu, 0000000000000000000000020000000001000000000000000000000000000000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
CoeProfile, 21631881
PDO TC Inputs Channel 1 (Index #x1a00, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1800", "BIT"
"Value", "", , "#x6000", "INT"
PDO TC Inputs Channel 2 (Index #x1a01, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1801", "BIT"
"Value", "", , "#x6010", "INT"
PDO TC Inputs Channel 3 (Index #x1a02, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6020", "BIT"
"Status__Overrange", "Overrange event active", , "#x6020", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6020", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6020", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6020", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6020", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1802", "BIT"
"Value", "", , "#x6020", "INT"
PDO TC Inputs Channel 4 (Index #x1a03, Flags #x0011, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6030", "BIT"
"Status__Overrange", "Overrange event active", , "#x6030", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6030", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6030", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6030", "BIT"
"Status__", "", , "", "ARRAY [0..6] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6030", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x1803", "BIT"
"Value", "", , "#x6030", "INT"
PDO TC Outputs Channel 1 (Index #x1600, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7000", "INT"
PDO TC Outputs Channel 2 (Index #x1601, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7010", "INT"
PDO TC Outputs Channel 3 (Index #x1602, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7020", "INT"
PDO TC Outputs Channel 4 (Index #x1603, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"CJCompensation", "", , "#x7030", "INT"
.. raw:: html
IM6K2-EL3052-E5
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM6K2-EL3052-E5
ID, 253
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM6K2-EL3062-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM6K2-EL3062-E6
ID, 254
BootStrapData, 0010f400f410f400
SyncMan, 001080002600010001000000800080008000001026010000
SyncMan, 801080002200010002000000800080008000801022010000
SyncMan, 001100000400000003000000000000000000001104000000
SyncMan, 801108002000010004000000000000000800801120010000
Fmmu, 0000000000000000801100010100000002000000000000000000000000000000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 19665801
CoeProfile, 19665801
PDO AI Standard Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6000", "BIT"
"Status__Overrange", "Overrange event active", , "#x6000", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6000", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6000", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6000", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6000", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6000", "BIT"
"Value", "", , "#x6000", "INT"
PDO AI Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6000", "INT"
PDO AI Standard Channel 2 (Index #x1a02, Flags #x0010, SyncMan 3)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Status__Underrange", "Underrange event active", , "#x6010", "BIT"
"Status__Overrange", "Overrange event active", , "#x6010", "BIT"
"Status__Limit 1", "Bit0: Value smaller/equal Limit1 Bit1: Value bigger/equal Limit1", , "#x6010", "BIT2"
"Status__Limit 2", "Bit0: Value smaller/equal Limit2 Bit1: Value bigger/equal Limit2", , "#x6010", "BIT2"
"Status__Error", "Bit set when Over- or Underrange", , "#x6010", "BIT"
"Status__", "", , "", "ARRAY [0..0] OF BIT"
"Status__", "", , "", "ARRAY [0..5] OF BIT"
"Status__TxPDO State", "TRUE when this TxPDO is not valid", , "#x6010", "BIT"
"Status__TxPDO Toggle", "Bit toggles everytime when new value available", , "#x6010", "BIT"
"Value", "", , "#x6010", "INT"
PDO AI Compact Channel 2 (Index #x1a03, Flags #x0010, SyncMan )
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Value", "", , "#x6010", "INT"
.. raw:: html
IM6K2-EL4004-E7
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (4 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM6K2-EL4004-E7
ID, 255
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)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7000", "INT"
PDO AO Outputs Channel 2 (Index #x1601, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7010", "INT"
PDO AO Outputs Channel 3 (Index #x1602, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7020", "INT"
PDO AO Outputs Channel 4 (Index #x1603, Flags #x0011, SyncMan 2)
.. csv-table::
:header: Name, Comment, BitLen, Index, Type
:align: center
"Analog output", "", , "#x7030", "INT"
.. raw:: html
LI3K2-EL9011-E8
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, LI3K2-EL9011-E8
ID, 291
.. raw:: html
PF2K2-EL9011-E6
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, PF2K2-EL9011-E6
ID, 292
.. raw:: html
IM6K2-EL9011-E8
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, IM6K2-EL9011-E8
ID, 293
.. raw:: html
Term 296 (EL9011)
^^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 296 (EL9011)
ID, 296
.. raw:: html