AS3030.

001

EtherCAT Interface

rev.0.0
June 2008
Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Index
1 EtherCAT Object Dictionary ....................................................................................................... 4
1.1. Communication Area (0x1000 - 0x1FFF)........................................................................4
1.1.1. Object 0x1000 – Device Type ....................................................................................4
1.1.2. Object 0x1008 – Device Name ...................................................................................5
1.1.3. Object 0x1009 – Hardware Version............................................................................6
1.1.4. Object 0x100A – Software Version ............................................................................7
1.1.5. Object 0x1018 – Identity Object.................................................................................8
1.1.6. Object 0x1100 – EtherCAT Configured Station Address.........................................11
1.1.7. Object 0x1600 – 1st Drive Receive PDO 1 Mapping Structure ................................12
1.1.8. Object 0x1601 – 1st Drive Receive PDO 2 Mapping Structure ................................14
1.1.9. Object 0x1602 – 1st Drive Receive PDO 3 Mapping Structure ................................16
1.1.10. Object 0x1603 – 1st Drive Receive PDO 4 Mapping Structure ................................18
1.1.11. Object 0x1640 – 2nd Drive Receive PDO 1 Mapping Structure ...............................20
1.1.12. Object 0x1641 – 2nd Drive Receive PDO 2 Mapping Structure ...............................22
1.1.13. Object 0x1642 – 2nd Drive Receive PDO 3 Mapping Structure ...............................24
1.1.14. Object 0x1643 – 2nd Drive Receive PDO 4 Mapping Structure ...............................26
1.1.15. Object 0x1680 – 3rd Drive Receive PDO 1 Mapping Structure................................28
1.1.16. Object 0x1681 – 3rd Drive Receive PDO 2 Mapping Structure................................30
1.1.17. Object 0x1682 – 3rd Drive Receive PDO 3 Mapping Structure................................32
1.1.18. Object 0x1683 – 3rd Drive Receive PDO 4 Mapping Structure................................34
1.1.19. Object 0x1A00 – 1st Drive Transmit PDO 1 Mapping Structure..............................36
1.1.20. Object 0x1A01 – 1st Drive Transmit PDO 2 Mapping Structure..............................38
1.1.21. Object 0x1A02 – 1st Drive Transmit PDO 3 Mapping Structure..............................40
1.1.22. Object 0x1A03 – 1st Drive Transmit PDO 4 Mapping Structure..............................42
1.1.23. Object 0x1A40 – 2nd DriveTransmit PDO 1 Mapping Structure..............................44
1.1.24. Object 0x1A41 – 2nd Drive Transmit PDO 2 Mapping Structure.............................46
1.1.25. Object 0x1A42 – 2nd Drive Transmit PDO 3 Mapping Structure.............................48
1.1.26. Object 0x1A43 – 2nd Drive Transmit PDO 4 Mapping Structure.............................50
1.1.27. Object 0x1A80 – 3rd DriveTransmit PDO 1 Mapping Structure ..............................52
1.1.28. Object 0x1A81 – 3rd Drive Transmit PDO 2 Mapping Structure .............................54
1.1.29. Object 0x1A82 – 3rd Drive Transmit PDO 3 Mapping Structure .............................56
1.1.30. Object 0x1A83 – 3rd Drive Transmit PDO 4 Mapping Structure .............................58
1.1.31. Object 0x1C00 – Sync Manager Type......................................................................60
1.1.32. Object 0x1C02 – Cycle Diagnosis ............................................................................62
1.1.33. Object 0x1C12 – Receive PDO Assign ....................................................................64
1.1.34. Object 0x1C13 – Transmit PDO Assign...................................................................69
1.1.35. Object 0x1C32 – Sync Manager Output Parameters ................................................74
1.1.36. Object 0x1C33 – Sync Manager Input Parameters...................................................77
1.2. Manufacturer Specific Area (0x2000 – 0x5FFF)...........................................................80
1.2.1. Object 0x5000 – debug info: GENERIC variables...................................................80
1.2.2. Object 0x5001 – debug info: ETHERCAT variables ...............................................92
1.2.3. Object 0x5002 – Parameters .....................................................................................98
1.2.4. Object 0x5003 – Info Structure...............................................................................102
1.2.5. Object 0x5004 – Slave Controller Error Counters..................................................104
1.2.6. Object 0x5005 – board eeprom configuration ........................................................107
1.2.7. Object 0x5100 – AS3030 debug info: 1st DRIVE variable....................................110
1.2.8. Object 0x5101 – AS3030 debug info: 2nd DRIVE variable...................................114
1.2.9. Object 0x5102 – AS3030 debug info: 3rd DRIVE variable ...................................118
1.3. Emergency Messages (EMCY)....................................................................................122

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.3.1. General EMCY .......................................................................................................122

1.3.2. EtherCAT Interface Sync Manager Configuration EMCY.....................................122
1.3.3. EtherCAT Interface Device Specific EMCY..........................................................122
2 Revision history of the User Manual ....................................................................................... 128

ISB0806120930

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

EtherCAT the versatile high speed Ethernet Filedbus

EtherCAT is industrial Ethernet, it is easier to configure. This communication is an integrated

solution because there is only one channel.

The reaction time is short:

- 256 I/O in 11µs
- 1000 difgital I/O distribuited to 100 nodes in 30 µs
- 200 analog I/O (16bit) in 50 µs, 20 kHz sampling rate
- 100 servo axis (each 8 byte IN+OUT) in 100 µs
- 12000 digital I/O in 350 µs

Application fields:

Fast applications: packaging, high speed presses, injection molding,

robotics ...
Widely distributed applications: logistics, data acquisition, handling ...

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1 EtherCAT Object Dictionary

1.1. Communication Area (0x1000 - 0x1FFF)

1.1.1. Object 0x1000 – Device Type

Object Description
Index 0x1000
Data Type UNSIGNED32
Max Sub-Index0x00
Obj Code OBJCODE_VAR
Name "Device Type"
Entry Description x1000 0x00
Index 0x1000
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x00020192
Min Value -
Max Value -
Description "Device Type"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.2. Object 0x1008 – Device Name

Object Description
Index 0x1008
Data Type VISIBLE_STRING
Max Sub-Index0x00
Obj Code OBJCODE_VAR
Name "Device Name"

Entry Description 0x1008 0x00

Index 0x1008
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type VISIBLE_STRING
Bit Len 400
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value "EtherCAT Interface for Parker Hannifin SBC drives"
Min Value -
Max Value -
Description "Device Name"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.3. Object 0x1009 – Hardware Version

Object Description
Index 0x1009
Data Type VISIBLE_STRING
Max Sub-Index0x00
Obj Code OBJCODE_VAR
Name "Hardware Version"
Entry Description 0x1009 0x00
Index 0x1009
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type VISIBLE_STRING
Bit Len 80
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value "AS3030.001"
Min Value -
Max Value -
Description "Hardware Version"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.4. Object 0x100A – Software Version

Object Description
Index 0x100A
Data Type VISIBLE_STRING
Max Sub-Index0x00
Obj Code OBJCODE_VAR
Name "Software Version"

Entry Description 0x100A 0x00

Index 0x100A
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type VISIBLE_STRING
Bit Len 248
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value "EtherCAT Parker SBC vVV.RR.BBBB"
Min Value -
Max Value -
Description "Software Version"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.5. Object 0x1018 – Identity Object

Object Description
Index 0x1018
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "Identity Object"
Entry Description 0x1018 0x00
Index 0x1018
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 4
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x1018 0x01
Index 0x1018
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x000001B5
Min Value -
Max Value -
Description "Vendor ID"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1018 0x02

Index 0x1018
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default 0x002E3BF1
Value
Min Value -
Max Value -
Description "Product Code"
Additional Informations83:82
Notes This value, at Application SW start-up, is initialized with DEFAULT VALUE "0x002E3BF1"
(3030001).
During 1st DRIVE configuration procedure 1st DRIVE, if present, can overwrite this value to
EtherCAT Slave Application ram with its DRIVE TYPE CODE that is formatted like follow:
Word High Word Low
Number of Drive Connected (1-3) Drive Type Code:
0x00xx - SLVDN
0x00xx - SPDN/TwinN
0x00xx - HiDrive
0xXXXX - ....
Entry Description 0x1018 0x03
Index 0x1018
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default 0x00000000
Value
Min Value -
Max Value -
Description "Revision"
Additional Informations
Notes This value, at Application SW start-up, is initialized with DEFAULT VALUE "0x00000000".
During 1st DRIVE configuration procedure 1st DRIVE, if present, can overwrite this value to
EtherCAT Slave Application ram with its DRIVE TYPE REVISION CODE.

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Entry Description 0x1018 0x04

Index 0x1018
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "Serial Number"
Additional Informations
Notes This is the low 32 bit value of PORT0 MAC Address.

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1.1.6. Object 0x1100 – EtherCAT Configured Station Address

Object Description
Index 0x1100
Data Type UNSIGNED16
Max Sub-Index 0x00
Obj Code OBJCODE_VAR
Name "EtherCAT Configured Station Address"
Entry Description 0x1100 0x00
Index 0x1100
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value Configured by EtherCAT Master
Min Value -
Max Value -
Description "EtherCAT Configured Station Address"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.7. Object 0x1600 – 1st Drive Receive PDO 1 Mapping Structure

NOTE: It is the Receive PDO 1 for 1ST DRIVE.

Object Description
Index 0x1600
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "1st Drive Receive PDO 1 Mapping"
Entry Description 0x1600 0x00
Index 0x1600
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1600 0x01
Index 0x1600
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 1 Entry 1"
Entry Description 0x1600 0x02
Index 0x1600
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 1 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1600 0x03

Index 0x1600
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 1 Entry 3"
Entry Description 0x1600 0x04
Index 0x1600
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 1 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.8. Object 0x1601 – 1st Drive Receive PDO 2 Mapping Structure

NOTE: It is the Receive PDO 2 for 1 DRIVE.
ST

Object Description
Index 0x1601
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "1st Drive Receive PDO 2 Mapping"
Entry Description 0x1601 0x00
Index 0x1601
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1601 0x01
Index 0x1601
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 2 Entry 1"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1601 0x02

Index 0x1601
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 2 Entry 2"
Entry Description 0x1601 0x03
Index 0x1601
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 2 Entry 3"

Entry Description 0x1601 0x04

Index 0x1601
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 2 Entry 4"

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1.1.9. Object 0x1602 – 1st Drive Receive PDO 3 Mapping Structure

ST DRIVE.
NOTE: It is the Receive PDO3 for 1

Object Description
Index 0x1602
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "1st Drive Receive PDO 3 Mapping"
Entry Description 0x1602 0x00
Index 0x1602
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1602 0x01
Index 0x1602
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 3 Entry 1"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1602 0x02

Index 0x1602
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 3 Entry 2"
Entry Description 0x1602 0x03
Index 0x1602
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 3 Entry 3"
Entry Description 0x1602 0x04
Index 0x1602
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 3 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.10. Object 0x1603 – 1st Drive Receive PDO 4 Mapping Structure

NOTE: It is the Receive PDO4 for 1ST DRIVE.
Object Description
Index 0x1603
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "1st Drive Receive PDO 4 Mapping"
Entry Description 0x1603 0x00
Index 0x1603
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1603 0x01
Index 0x1603
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 4 Entry 1"
Entry Description 0x1603 0x02
Index 0x1603
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 4 Entry 2"

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Entry Description 0x1603 0x03

Index 0x1603
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 4 Entry 3"
Entry Description 0x1603 0x04
Index 0x1603
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Receive PDO 4 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.11. Object 0x1640 – 2nd Drive Receive PDO 1 Mapping Structure

NOTE: It is the Receive PDO 1 for 2 DRIVE (if present).
ND

Object Description
Index 0x1640
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "2nd Drive Receive PDO 1 Mapping"
Entry Description 0x1640 0x00
Index 0x1640
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1640 0x01
Index 0x1640
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 1 Entry 1"
Entry Description 0x1640 0x02
Index 0x1640
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 1 Entry 2"

20
Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1640 0x03

Index 0x1640
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 1 Entry 3"

Entry Description 0x1640 0x04

Index 0x1640
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 1 Entry 4"

21
Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.12. Object 0x1641 – 2nd Drive Receive PDO 2 Mapping Structure

NOTE: It is the Receive PDO 2 for 2ND DRIVE (if present).
Object Description
Index 0x1641
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "2nd Drive Receive PDO 2 Mapping"
Entry Description 0x1641 0x00
Index 0x1641
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1641 0x01
Index 0x1641
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 2 Entry 1"
Entry Description 0x1641 0x02
Index 0x1641
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 2 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1641 0x03

Index 0x1641
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 2 Entry 3"
Entry Description 0x1641 0x04
Index 0x1641
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 2 Entry 4"

23
Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.13. Object 0x1642 – 2nd Drive Receive PDO 3 Mapping Structure

NOTE: It is the Receive PDO 3 for 2ND DRIVE (if present).
Object Description
Index 0x1642
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "2nd Drive Receive PDO 3 Mapping"
Entry Description 0x1642 0x00
Index 0x1642
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1642 0x01
Index 0x1642
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 3 Entry 1"
Entry Description 0x1642 0x02
Index 0x1642
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 3 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1642 0x03

Index 0x1642
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 3 Entry 3"
Entry Description 0x1642 0x04
Index 0x1642
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 3 Entry 4"

25
Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.14. Object 0x1643 – 2nd Drive Receive PDO 4 Mapping Structure

NOTE: It is the Receive PDO 4 for 2ND DRIVE (if present).
Object Description
Index 0x1643
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
nd
Name "2 Drive Receive PDO 4 Mapping"
Entry Description 0x1643 0x00
Index 0x1643
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1643 0x01
Index 0x1643
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 4 Entry 1"
Entry Description 0x1643 0x02
Index 0x1643
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 4 Entry 2"

26
Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1643 0x03

Index 0x1643
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 4 Entry 3"

Entry Description 0x1643 0x04

Index 0x1643
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Receive PDO 4 Entry 4"

27
Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.15. Object 0x1680 – 3rd Drive Receive PDO 1 Mapping Structure

NOTE: It is the Receive PDO 1 for 3RD DRIVE (if present).
Object Description
Index 0x1680
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
rd
Name "3 Drive Receive PDO 1 Mapping"
Entry Description 0x1680 0x00
Index 0x1680
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1680 0x01
Index 0x1680
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 1 Entry 1"
Entry Description 0x1680 0x02
Index 0x1680
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 1 Entry 2"

28
Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1680 0x03

Index 0x1680
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 1 Entry 3"
Entry Description 0x1680 0x04
Index 0x1680
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 1 Entry 4"

29
Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.16. Object 0x1681 – 3rd Drive Receive PDO 2 Mapping Structure

NOTE: It is the Receive PDO 2 for 3RD DRIVE (if present).
Object Description
Index 0x1681
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
rd
Name "3 Drive Receive PDO 2 Mapping"
Entry Description 0x1681 0x00
Index 0x1681
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1681 0x01
Index 0x1681
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 2 Entry 1"
Entry Description 0x1681 0x02
Index 0x1681
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 2 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1681 0x03

Index 0x1681
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 2 Entry 3"
Entry Description 0x1681 0x04
Index 0x1681
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 2 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.17. Object 0x1682 – 3rd Drive Receive PDO 3 Mapping Structure

NOTE: It is the Receive PDO 3 for 3RD DRIVE (if present).
Object Description
Index 0x1682
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
rd
Name "3 Drive Receive PDO 3 Mapping"
Entry Description 0x1682 0x00
Index 0x1682
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"

Entry Description 0x1682 0x01

Index 0x1682
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 3 Entry 1"
Entry Description 0x1682 0x02
Index 0x1682
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 3 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1682 0x03

Index 0x1682
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 3 Entry 3"

Entry Description 0x1682 0x04

Index 0x1682
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 3 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.18. Object 0x1683 – 3rd Drive Receive PDO 4 Mapping Structure

NOTE: It is the Receive PDO 4 for 3RD DRIVE (if present).
Object Description
Index 0x1683
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
nd
Name "2 Drive Receive PDO 4 Mapping"
Entry Description 0x1683 0x00
Index 0x1683
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1683 0x01
Index 0x1683
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 4 Entry 1"
Entry Description 0x1683 0x02
Index 0x1683
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 4 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1683 0x03

Index 0x1683
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 4 Entry 3"
Entry Description 0x1683 0x04
Index 0x1683
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Receive PDO 4 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.19. Object 0x1A00 – 1st Drive Transmit PDO 1 Mapping Structure

NOTE: It is the Transmit PDO 1 for 1ST DRIVE.
Object Description
Index 0x1A00
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
st
Name "1 Drive Transmit PDO 1 Mapping"
Entry Description 0x1A00 0x00
Index 0x1A00
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A00 0x01
Index 0x1A00
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 1 Entry 1"
Entry Description 0x1A00 0x02
Index 0x1A00
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 1 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A00 0x03

Index 0x1A00
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 1 Entry 3"
Entry Description 0x1A00 0x04
Index 0x1A00
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 1 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.20. Object 0x1A01 – 1st Drive Transmit PDO 2 Mapping Structure

NOTE: It is the Transmit PDO 2 for 1ST DRIVE.
Object Description
Index 0x1A01
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
st
Name "1 Drive Transmit PDO 2 Mapping"
Entry Description 0x1A01 0x00
Index 0x1A01
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"

Entry Description 0x1A01 0x01

Index 0x1A01
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 2 Entry 1"
Entry Description 0x1A01 0x02
Index 0x1A01
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 2 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A01 0x03

Index 0x1A01
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 2 Entry 3"

Entry Description 0x1A01 0x04

Index 0x1A01
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 2 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.21. Object 0x1A02 – 1st Drive Transmit PDO 3 Mapping Structure

OTE: It is the Transmit PDO 3 for 1ST DRIVE.
N

Object Description
Index 0x1A02
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "1st Drive Transmit PDO 3 Mapping"
Entry Description 0x1A02 0x00
Index 0x1A02
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A02 0x01
Index 0x1A02
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 3 Entry 1"

Entry Description 0x1A02 0x02

Index 0x1A02
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 3 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A02 0x03

Index 0x1A02
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 3 Entry 3"
Entry Description 0x1A02 0x04
Index 0x1A02
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 3 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.22. Object 0x1A03 – 1st Drive Transmit PDO 4 Mapping Structure

NOTE: It is the Transmit PDO 4 for 1ST DRIVE.
Object Description
Index 0x1A03
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
st
Name "1 Drive Transmit PDO 4 Mapping"
Entry Description 0x1A03 0x00
Index 0x1A03
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A03 0x01
Index 0x1A03
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 4 Entry 1"
Entry Description 0x1A03 0x02
Index 0x1A03
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 4 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A03 0x03

Index 0x1A03
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 4 Entry 3"
Entry Description 0x1A03 0x04
Index 0x1A03
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "1st Drive Transmit PDO 4 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.23. Object 0x1A40 – 2nd DriveTransmit PDO 1 Mapping Structure

NOTE: It is the Transmit PDO 1 for 2nd DRIVE (if present).
Object Description
Index 0x1A40
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
nd
Name "2 Drive Transmit PDO 1 Mapping"
Entry Description 0x1A40 0x00
Index 0x1A40
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
00 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A40 0x01
Index 0x1A40
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 1 Entry 1"
Entry Description 0x1A40 0x02
Index 0x1A40
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 1 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A40 0x03

Index 0x1A40
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 1 Entry 3"

Entry Description 0x1A40 0x04

Index 0x1A40
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 1 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.24. Object 0x1A41 – 2nd Drive Transmit PDO 2 Mapping Structure

NOTE: It is the Transmit PDO 2 for 2nd DRIVE (if present).
Object Description
Index 0x1A41
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
nd
Name "2 Drive Transmit PDO 2 Mapping"
Entry Description 0x1A41 0x00
Index 0x1A41
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A41 0x01
Index 0x1A41
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 2 Entry 1"
Entry Description 0x1A41 0x02
Index 0x1A41
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 2 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A41 0x03

Index 0x1A41
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 2 Entry 3"
Entry Description 0x1A41 0x04
Index 0x1A41
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 2 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.25. Object 0x1A42 – 2nd Drive Transmit PDO 3 Mapping Structure

nd
NOTE: It is the Transmit PDO 3 for 2 DRIVE (if present).
Object Description
Index 0x1A42
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "2nd Drive Transmit PDO 3 Mapping"
Entry Description 0x1A42 0x00
Index 0x1A42
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A42 0x01
Index 0x1A42
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 3 Entry 1"
Entry Description 0x1A42 0x02
Index 0x1A42
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 3 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A42 0x03

Index 0x1A42
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 3 Entry 3"

Entry Description 0x1A42 0x04

Index 0x1A42
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 3 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.26. Object 0x1A43 – 2nd Drive Transmit PDO 4 Mapping Structure

NOTE: It is the Transmit PDO 4 for 2nd DRIVE (if present).
Object Description
Index 0x1A43
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "2nd Drive Transmit PDO 4 Mapping"
Entry Description 0x1A43 0x00
Index 0x1A43
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A43 0x01
Index 0x1A43
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 4 Entry 1"
Entry Description 0x1A43 0x02
Index 0x1A43
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 4 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A43 0x03

Index 0x1A43
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 4 Entry 3"

Entry Description 0x1A43 0x04

Index 0x1A43
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "2nd Drive Transmit PDO 4 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.27. Object 0x1A80 – 3rd DriveTransmit PDO 1 Mapping Structure

NOTE: It is the Transmit PDO 1 for 3rd DRIVE (if present).
Object Description
Index 0x1A80
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "3rd Drive Transmit PDO 1 Mapping"
Entry Description 0x1A80 0x00
Index 0x1A80
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
00 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A80 0x01
Index 0x1A80
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 1 Entry 1"
Entry Description 0x1A80 0x02
Index 0x1A80
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 1 Entry 2"

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Entry Description 0x1A80 0x03

Index 0x1A80
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 1 Entry 3"
Entry Description 0x1A80 0x04
Index 0x1A80
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 1 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.28. Object 0x1A81 – 3rd Drive Transmit PDO 2 Mapping Structure

NOTE: It is the Transmit PDO 2 for 3rd DRIVE (if present).
Object Description
Index 0x1A81
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "3rd Drive Transmit PDO 2 Mapping"
Entry Description 0x1A81 0x00
Index 0x1A81
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A81 0x01
Index 0x1A81
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 2 Entry 1"
Entry Description 0x1A81 0x02
Index 0x1A81
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 2 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A81 0x03

Index 0x1A81
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 2 Entry 3"
Entry Description 0x1A81 0x04
Index 0x1A81
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 2 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.29. Object 0x1A82 – 3rd Drive Transmit PDO 3 Mapping Structure

NOTE: It is the Transmit PDO 3 for 3rd DRIVE (if present).
Object Description
Index 0x1A82
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "3rd Drive Transmit PDO 3 Mapping"
Entry Description 0x1A82 0x00
Index 0x1A82
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A82 0x01
Index 0x1A82
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 3 Entry 1"
Entry Description 0x1A82 0x02
Index 0x1A82
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 3 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A82 0x03

Index 0x1A82
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 3 Entry 3"

Entry Description 0x1A82 0x04

Index 0x1A82
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 3 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.30. Object 0x1A83 – 3rd Drive Transmit PDO 4 Mapping Structure

NOTE: It is the Transmit PDO 4 for 3rd DRIVE (if present).
Object Description
Index 0x1A83
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "3rd Drive Transmit PDO 4 Mapping"
Entry Description 0x1A83 0x00
Index 0x1A83
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4
Description "Num Of Elements"
Entry Description 0x1A83 0x01
Index 0x1A83
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 4 Entry 1"
Entry Description 0x1A83 0x02
Index 0x1A83
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 4 Entry 2"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1A83 0x03

Index 0x1A83
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 4 Entry 3"
Entry Description 0x1A83 0x04
Index 0x1A83
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x00000000
Min Value -
Max Value -
Description "3rd Drive Transmit PDO 4 Entry 4"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.31. Object 0x1C00 – Sync Manager Type

Object Description
Index 0x1C00
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "Sync Manager Type"

Entry Description 0x1C00 0x00

Index 0x1C00
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 4
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x1C00 0x01
Index 0x1C00
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x01 (Mailbox Receive (Master to Slave))
Min Value -
Max Value -
Description "Sync Manager 0 Type"
Entry Description 0x1C00 0x02
Index 0x1C00
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x02 (Mailbox Send (Slave to Master))
Min Value -
Max Value -
Description "Sync Manager 1 Type"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1C00 0x03

Index 0x1C00
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x03 (Process Data Output)
Min Value -
Max Value -
Description "Sync Manager 2 Type"
Entry Description 0x1C00 0x04
Index 0x1C00
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x03 (Process Data Input)
Min Value -
Max Value -
Description "Sync Manager 3 Type"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.32. Object 0x1C02 – Cycle Diagnosis

Object Description
Index 0x1C02
Data Type RECORD
Max Sub-Index0x04
Obj Code OBJCODE_RECORD
Name "Cycle Diagnosis"
Entry Description 0x1C02 0x00
Index 0x1C02
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 4
Min Value -
Max Value -
Description "Num Of Elements"

Entry Description 0x1C02 0x01

Index 0x1C02
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 1 1 1 1 1 1
Default Value 0x0000
Min Value 0x0000
Max Value 0xFFFF
Description "SM-Event Missed Counter"
Entry Description 0x1C02 0x02
Index 0x1C02
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 1 1 1 1 1 1
Default Value 0x0000
Min Value 0x0000
Max Value 0xFFFF
Description "Shift Time Too Short Counter"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1C02 0x03

Index 0x1C02
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 1 1 1 1 1 1
Default Value 0x0000
Min Value 0x0000
Max Value 0xFFFF
Description "Cycle Time Exceeded Counter"

Entry Description 0x1C02 0x04

Index 0x1C02
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 1 1 1 1 1 1
Default Value 0x0000
Min Value 0x0000
Max Value 0xFFFF
Description "SYNC0 Missed Counter"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

1.1.33. Object 0x1C12 – Receive PDO Assign

Object Description
Index 0x1C12
Data Type RECORD
Max Sub-Index0x04 * Number of DRIVES founded
Obj Code OBJCODE_RECORD
Name "Receive PDO Assign"
Entry Description 0x1C12 0x00
Index 0x1C12
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4 * Number of DRIVES founded
Description "Num Of Elements"
Entry Description 0x1C12 0x01
Index 0x1C12
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 1 Assign"

Entry Description 0x1C12 0x02

Index 0x1C12
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 2 Assign"

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Entry Description 0x1C12 0x03

Index 0x1C12
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 3 Assign"
Entry Description 0x1C12 0x04
Index 0x1C12
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 4 Assign"

Entry Description 0x1C12 0x05

Index 0x1C12
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 5 Assign"

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Entry Description 0x1C12 0x06

Index 0x1C12
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 6 Assign"
Entry Description 0x1C12 0x07
Index 0x1C12
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 7 Assign"

Entry Description 0x1C12 0x08

Index 0x1C12
Sub-Index 0x08
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 8 Assign"

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Entry Description 0x1C12 0x09

Index 0x1C12
Sub-Index 0x09
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 9 Assign"
Entry Description 0x1C12 0x0A
Index 0x1C12
Sub-Index 0x0A
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 10 Assign"

Entry Description 0x1C12 0x0B

Index 0x1C12
Sub-Index 0x0B
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 11 Assign"

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Entry Description 0x1C12 0x0C

Index 0x1C12
Sub-Index 0x0C
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1603 + (0x40 * (Number of DRIVES founded-1))
Description "Receive PDO 12 Assign"

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1.1.34. Object 0x1C13 – Transmit PDO Assign

Object Description
Index 0x1C13
Data Type RECORD
Max Sub-Index0x04 * Number of DRIVES founded
Obj Code OBJCODE_RECORD
Name "Transmit PDO Assign"
Entry Description 0x1C13 0x00
Index 0x1C13
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 4 * Number of DRIVES founded
Description "Num Of Elements"

Entry Description 0x1C13 0x01

Index 0x1C13
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 1 Assign"
Entry Description 0x1C13 0x02
Index 0x1C13
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 2 Assign"

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Entry Description 0x1C13 0x03

Index 0x1C13
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 3 Assign"

Entry Description 0x1C13 0x04

Index 0x1C13
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 4 Assign"
Entry Description 0x1C13 0x05
Index 0x1C13
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 5 Assign"

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Entry Description 0x1C13 0x06

Index 0x1C13
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 6 Assign"

Entry Description 0x1C13 0x07

Index 0x1C13
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 7 Assign"
Entry Description 0x1C13 0x08
Index 0x1C13
Sub-Index 0x08
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 8 Assign"

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Entry Description 0x1C13 0x09

Index 0x1C13
Sub-Index 0x09
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 9 Assign"

Entry Description 0x1C13 0x0A

Index 0x1C13
Sub-Index 0x0A
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 10 Assign"
Entry Description 0x1C13 0x0B
Index 0x1C13
Sub-Index 0x0B
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 11 Assign"

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Entry Description 0x1C13 0x0C

Index 0x1C13
Sub-Index 0x0C
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 0x1A03 + (0x40 * (Number of DRIVES founded-1))
Description "Transmit PDO 12 Assign"

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1.1.35. Object 0x1C32 – Sync Manager Output Parameters

Object Description
Index 0x1C32
Data Type RECORD
Max Sub-Index0x06
Obj Code OBJCODE_RECORD
Name "Sync Manager Output Parameters"
Entry Description 0x1C32 0x00
Index 0x1C32
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x06
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x1C32 0x01
Index 0x1C32
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x0001 (Synchron Mode)
Min Value 0x0000
Max Value 0x0002
Description "Sync Mode"
Additional Informations
Supported Values 0x0000 Free Run Mode (not synchronized)
0x0001 Synchron Mode
0x0002 DC Sync0 Mode (synchronized with Sync0 Event)

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Entry Description 0x1C32 0x02

Index 0x1C32
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 1 1 1 1
Default 1000000 (1ms)
Value
Min Value 250000 (250us)
Max Value 1000000000 (1s)
Description "Cycle Time"
Additional Informations
Notes If "Free Run Mode" or "Synchron Mode" are selected, it is MANDATORY for the EtherCAT
MASTER Device to set a valid value of this Entry through SDO before request state transition
PRE_OPERATIONAL to SAFE_OPERATIONAL or transition will be refused.
If "DC Sync0 Mode" is selected, the "Sync0CycTime" register value (address 0x09A0), if valid
value, will be copied in this Entry after state transition PRE_OPERATIONAL to
SAFE_OPERATIONAL request if transition will be accepted.
If "DC Sync1 Mode" is selected, the "Sync1CycTime" register value (address 0x09A4), if valid
value, will be copied in this Entry after state transition PRE_OPERATIONAL to
SAFE_OPERATIONAL request if transition will be accepted.
Entry Description 0x1C32 0x03
Index 0x1C32
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0
Min Value -
Max Value -
Description "Shift Time"

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Entry Description 0x1C32 0x04

Index 0x1C32
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx PdoMap rx PdoMap wr Op wr wr PreOp rd Op rd SafeOp rd PreOp
SafeOp
0 0 0 0 0 1 1 1
Default Bit 15-3 Bit 2 Bit 1 Bit 0
Value Other Modes Not DC Sync0 Synchron Mode Free Run Mode
Supported Supported Supported Supported
0 1 1 1
Min Value -
Max Value -
Description "Sync Modes Supported"
Entry Description 0x1C32 0x05
Index 0x1C32
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0
Min Value -
Max Value -
Description "Minimum Cycle Time"
Entry Description 0x1C32 0x06
Index 0x1C32
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0
Min Value -
Max Value -
Description "Minimum Delay Time"

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1.1.36. Object 0x1C33 – Sync Manager Input Parameters

Object Description
Index 0x1C33
Data Type RECORD
Max Sub-Index0x06
Obj Code OBJCODE_RECORD
Name "Sync Manager Input Parameters"
Entry Description 0x1C33 0x00
Index 0x1C33
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x06
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x1C33 0x01
Index 0x1C33
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0x0001 (Synchron Mode)
Min Value 0x0000
Max Value 0x0002
Description "Sync Mode"
Additional Informations
Supported Values 0x0000 Free Run Mode (not synchronized)
0x0001 Synchron Mode (synchronized with SM 2 Event)
0x0002 DC Sync0 Mode (synchronized with Sync0 Event)

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Entry Description 0x1C33 0x02

Index 0x1C33
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 1 1 1 1
Default 1000000 (1000us)
Value
Min Value 250000 (250us)
Max Value 5000000 (5000us)
Description "Cycle Time"
Additional Informations
Notes If "Free Run Mode" or "Synchron Mode" are selected, it is MANDATORY for the EtherCAT
MASTER Device to set a valid value of this Entry through SDO before request state transition
PRE_OPERATIONAL to SAFE_OPERATIONAL or transition will be refused.
If "DC Sync0 Mode" is selected, the "Sync0CycTime" register value (address 0x09A0), if valid
value, will be copied in this Entry after state transition PRE_OPERATIONAL to
SAFE_OPERATIONAL request if transition will be accepted.
If "DC Sync1 Mode" is selected, the "Sync1CycTime" register value (address 0x09A4), if valid
value, will be copied in this Entry after state transition PRE_OPERATIONAL to
SAFE_OPERATIONAL request if transition will be accepted.
Entry Description 0x1C33 0x03
Index 0x1C33
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0
Min Value -
Max Value -
Description "Shift Time"

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Entry Description 0x1C33 0x04

Index 0x1C33
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx PdoMap rx PdoMap wr Op wr wr PreOp rd Op rd SafeOp rd PreOp
SafeOp
0 0 0 0 0 1 1 1
Default Bit 15-3 Bit 2 Bit 1 Bit 0
Value Other Modes Not DC Sync0 Synchron Mode Free Run Mode
Supported Supported Supported Supported
0 1 1 1
Min Value -
Max Value -
Description "Sync Modes Supported"
Entry Description 0x1C33 0x05
Index 0x1C33
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0
Min Value -
Max Value -
Description "Minimum Cycle Time"
Entry Description 0x1C33 0x06
Index 0x1C33
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0
Min Value -
Max Value -
Description "Minimum Delay Time"

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1.2. Manufacturer Specific Area (0x2000 – 0x5FFF)

1.2.1. Object 0x5000 – debug info: GENERIC variables

Object Description
Index 0x5000
Data Type RECORD
Max Sub-Index0x0B
Obj Code OBJCODE_RECORD
Name "AS3030 debug info: GENERIC variables"
Entry Description 0x5000 0x00
Index 0x5000
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x10
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x5000 0x01
Index 0x5000
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "Start-up Switches value"
Additional Informations
Notes The Switches value is read from the EtherCAT Slave Application SW only at the start-up and is
written to 1st DRIVE configuration variables. 1st DRIVE, if necessary, can keep or modify the
value and overwrite this to EtherCAT Slave Application ram. At this time the resulting value is
loaded into ESC_CONFIGURED_STATION_ALIAS register (address 0x0012).

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Entry Description 0x5000 0x02

Index 0x5000
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "NumDRIVE"
Additional Informations
Notes This entry is the number of DRIVES that the EtherCAT Slave Application SW is configured to
manage.
At the start-up, SW initialize this value to 1. During 1st DRIVE configuration procedure 1st
DRIVE overwrite this value to EtherCAT Slave Application ram with the correct number of
DRIVES manage from the EtherCAT interface.
Entry Description 0x5000 0x03
Index 0x5000
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx PdoMap rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskWsNeed"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that the EtherCAT Slave Application SW is
configured to manage.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) rd
3 DRIVE nd
2 DRIVE 1st DRIVE

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Entry Description 0x5000 0x04

Index 0x5000
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskWsOkEthStart"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that the EtherCAT Slave Application SW founded
and correctly configured during the Initial DRIVE Connection Procedure.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) rd
3 DRIVE nd
2 DRIVE 1st DRIVE
Entry Description 0x5000 0x05
Index 0x5000
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskWsOkEthLive"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that the EtherCAT Slave Application SW founded
and correctly configured during the Initial DRIVE Connection Procedure that mantain correct
conditions during the normal EtherCAT life.
If DRIVE connection to EtherCAT interface fall down the relative bit is reset to 0 value and
cannot return to 1.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) rd
3 DRIVE nd
2 DRIVE 1st DRIVE

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Entry Description 0x5000 0x06

Index 0x5000
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskErrInit"
Additional Informations
Notes This entry is the bit mask of the Initial DRIVES Connection Procedure Errors (error if bit set
to 1).
These errors are not resettable.
If one or more bits are set to 1 the EtherCAT Slave Interface refused state transition upper the
PRE_OPERATIONAL state.
Bit 0 Board Interface EEProm Configuration Error.
If this error is present EtherCAT Slave Interface remains into BOOT state.
Bit 1 EtherCAT EEProm Update Error.
If this error is present EtherCAT Slave Interface remains into BOOT state.
Bit 2 EtherCAT Slave Controller initialization error.
If this error is present EtherCAT Slave Interface remains into BOOT state.
Bit 3 EtherCAT dynamic dictionary creation error.
If this error is present EtherCAT Slave Interface remains into BOOT state.
Bit 7-4 Unused (always 0)
Bit 8 One or more DRIVES SSC interface initialization error.
(corresponding DRIVE bitmask is entry "MskErrWsInitSSC")
Bit 9 One or more DRIVES SSC Object Dictionary load error.
(corresponding DRIVE bitmask is entry "MskErrLdDrvDict")
Bit 10 One or more DRIVES SSC variables informations setting error.
(corresponding DRIVE bitmask is entry "MskErrLdDrvPdoInfo")
Bit 11 One or more DRIVES SSC PDO mapping error.
(corresponding DRIVE bitmask is entry "MskErrWsInitPdo")
Bit 31-12 Unused (always 0)

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Entry Description 0x5000 0x07

Index 0x5000
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx PdoMap rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskErrWsInitSSC"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that aborted the corresponding SSC Initialization
Procedure.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) rd
3 DRIVE nd
2 DRIVE 1st DRIVE

Entry Description 0x5000 0x08

Index 0x5000
Sub-Index 0x08
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskWsDictOK"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that correctly ended the CanOPEN Object Dictionary
Exchange Procedure with the EtherCAT Interface.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) 3rd DRIVE 2nd DRIVE 1st DRIVE

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Entry Description 0x5000 0x09

Index 0x5000
Sub-Index 0x09
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskErrLdDrvDict"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that aborted the CanOPEN Object Dictionary
Exchange Procedure with the EtherCAT Interface.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) rd
3 DRIVE nd
2 DRIVE 1st DRIVE
Entry Description 0x5000 0x0A
Index 0x5000
Sub-Index 0x0A
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskWsPdoInfoOK"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that correctly ended the Pdo Info Exchange
Procedure with the EtherCAT Interface.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) rd
3 DRIVE nd
2 DRIVE 1st DRIVE

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Entry Description 0x5000 0x0B

Index 0x5000
Sub-Index 0x0B
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx PdoMap rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskErrLdDrvPdoInfo"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that aborted the Pdo Info Exchange Procedure with
the EtherCAT Interface.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) rd
3 DRIVE nd
2 DRIVE 1st DRIVE
Entry Description 0x5000 0x0C
Index 0x5000
Sub-Index 0x0C
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskWsInitPdoOK"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that correctly ended the Initial Pdo Mapping
Procedure with the EtherCAT Interface.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) 3rd DRIVE 2nd DRIVE 1st DRIVE

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Entry Description 0x5000 0x0D

Index 0x5000
Sub-Index 0x0D
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx PdoMap rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskErrWsInitPdo"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that aborted the Initial Pdo Mapping Procedure with
the EtherCAT Interface.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) rd
3 DRIVE nd
2 DRIVE 1st DRIVE
Entry Description 0x5000 0x0E
Index 0x5000
Sub-Index 0x0E
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskErrLive"
Additional Informations
Notes This entry is the bit mask of the EtherCAT Interface Live Errors (error if bit set to 1).
If one or more bits are set to 1 the EtherCAT Slave Interface remains/returns in
PRE_OPERATIONAL state.
Bit 0 Sync Jiitter Error.
SET in OP state if Sync Event Jiitter exceeded relative threshold parameter (this
management starts after 10th Sync Event found).
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If relative management is enabled, an EMCY message is loaded to sent through
MailBox on rising edge of this bit.
Bit 1 One or more DRIVES in SSC Setup-Mode Error.
SET if one or more DRIVES during normal EtherCAT life have their SSC Channels in
Setup-Mode instead Running-Mode.
This error is not resettable.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.

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Bit 2 One or more DRIVES is not in CanOPEN_NMT_OPERATIONAL State.

SET in SAFE_OPERATIONAL or in OPERATIONAL state if one or more DRIVES
is not in CanOPEN_NMT_OPERATIONAL state.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.
Bit 3 Lost One or more DRIVES.
SET if "MskWsOkEthLive" < "MskWsOkEthStart".
This error is not resettable.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.
Bit 4 1st DRIVE in alarm.
SET if DRIVE is in Alarm Condition
AUTORESET if DRIVE exits from Alarm Condition.
Bit 5 2nd DRIVE in alarm.
SET if DRIVE is in Alarm Condition
AUTORESET if DRIVE exits from Alarm Condition.
Bit 6 3rd DRIVE in alarm.
SET if DRIVE is in Alarm Condition
AUTORESET if DRIVE exits from Alarm Condition.
Bit 7 Reserved (always 0)
Bit 8 EtherCAT Application or One or More DRIVES Refuse Communication Cycle Period
Value.
SET during the EtherCAT State Transition from PRE_OPERATIONL to
SAFE_OPERATIONAL state if EtherCAT Application or one or more DRIVES
refuse the vaule of CANopen Object 0x1006 0x00 (Communication Cycle Period in
us).
Communication Cycle Period Value is calculated by Application Firwmare from Entry
"0x1C32 0x02" value.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains into PRE_OPERATIONAL
state.
Bit 9 Timeout in CANopen NMT Transition to PRE_OPERATIONAL state of One or More
DRIVES.
SET during the EtherCAT State Transition to PRE_OPERATIONAL state if or one or
more DRIVES refuse CANopen NMT ENTER_PRE_OPERATIONAL request.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.
Bit 10 Timeout in CANopen NMT Transition to OPERATIONAL state of One or More
DRIVES.
SET during the EtherCAT State Transition from PRE_OPERATIONAL to
SAFE_OPERATIONAL/OPERATIONAL state if or one or more DRIVES refuse
CANopen NMT START request.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains into PRE_OPERATIONAL
state.
Bit 11 Ethernet PORT_0 LostLinkCount Variation error.
SET if there is a value variation of EtherCAT Slave Controller PORT_0 Lost Link
Counter register (ESC address 0x0310) and the relative Application SW management
is enabled.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If relative management is enabled, an EMCY message is loaded to sent through
MailBox on rising edge of this bit.
If relative management is enabled, if this error is present EtherCAT Slave Interface
remains/returns into PRE_OPERATIONAL state.

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Bit 12 Ethernet PORT_1 LostLinkCount Variation error.

SET if there is a value variation of EtherCAT Slave Controller PORT_1 Lost Link
Counter register (ESC address 0x0311) and the relative Application SW management
is enabled.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If relative management is enabled, an EMCY message is loaded to sent through
MailBox on rising edge of this bit.
If relative management is enabled, if this error is present EtherCAT Slave Interface
remains/returns into PRE_OPERATIONAL state.
Bit 13 Ethernet PORT_0 NoLinkDetection Error.
SET if there is no PORT_0 Link Detection Bit in ESC_DL_Status Register (ESC
address 0x0110).
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If relative management is enabled, on rising edge of this bit an EMCY message is
loaded to sent through MailBox and EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.
This control is activated, if enabled, 2.5 seconds after ESC initialization.
This bit is polled, subject to SW Loop Latency. For this reason is implemented
PORT_0 LostLinkCounter Variation Error management (Bit 11 of current mask) to
detect very fast link falls.
Bit 14 One or More DRIVES Refuse Guard Time Value.
SET during the EtherCAT State Transition from PRE_OPERATIONL to
SAFE_OPERATIONAL state if EtherCAT Application or one or more DRIVES
refuse the vaule of CANopen Object 0x100C 0x00 (Guard Time in ms).
Guard Time Value is calculated by Application Firwmare from Communication Cycle
Period value (see bit 8 of this entry):

GuardTime = 1 + CommCyclePeriod/1000;
if (GuardTime < MIN_GUARD_TIME)
GuardTime = MIN_GUARD_TIME;

AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.

If this error is present EtherCAT Slave Interface remains into PRE_OPERATIONAL
state.
Bit 15 One or More DRIVES Refuse Life Time Factor Value.
SET during the EtherCAT State Transition from PRE_OPERATIONL to
SAFE_OPERATIONAL state if EtherCAT Application or one or more DRIVES
refuse the vaule of CANopen Object 0x100D 0x00 (Life Time Factor).
Life Time Factor Value is written from 1st DRIVE during initial configuration.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains into PRE_OPERATIONAL
state.
Bit 16 1st DRIVESSC checksum Error.
SET a SSC checksum error is detected with 1stDRIVE.
An EMCY message is loaded to sent through MailBox on rising edge of this bit.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.
Bit 17 2nd DRIVESSC checksum Error.
SET if a SSC checksum error is detected with 2nd DRIVE.
An EMCY message is loaded to sent through MailBox on rising edge of this bit.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.

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Bit 18 3rd DRIVESSC checksum Error.

SET if a SSC checksum error is detected with 3rd DRIVE.
An EMCY message is loaded to sent through MailBox on rising edge of this bit.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.
Bit 19 Reserved (always 0)
Bit 20 1st DRIVESSC timeout Error.
SET a SSC timeout error is detected with 1stDRIVE.
An EMCY message is loaded to sent through MailBox on rising edge of this bit.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.
Bit 21 2nd DRIVESSC timeout Error.
SET a SSC timeout error is detected with 2ndDRIVE.
An EMCY message is loaded to sent through MailBox on rising edge of this bit.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.
Bit 22 3rd DRIVESSC timeout Error.
SET a SSC timeout error is detected with 3rdDRIVE.
An EMCY message is loaded to sent through MailBox on rising edge of this bit.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains/returns into
PRE_OPERATIONAL state.
Bit 23 Reserved (always 0)
Bit 24 Missing Sync Error.
SET in OP state if Sync Event doesn't run (timeout value is 2*CommCyclePeriod
(entry 0x5001 0x08)) if relative management is enabled (entry 0x5002 0x07).
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If relative management is enabled, an EMCY message is loaded to sent through
MailBox on rising edge of this bit.
Bit 25 One or More DRIVES Refuse PDO Validation Request.
SET during the EtherCAT State Transition from PRE_OPERATIONL to
SAFE_OPERATIONAL state if one or more DRIVES refuse the Validation Request
of assigned and mapped PDO.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains into PRE_OPERATIONAL
state.
Bit 26 Bad PDO Assign.
SET during the EtherCAT State Transition from PRE_OPERATIONL to
SAFE_OPERATIONAL state if there is an error on PDO Assign configuration.
AUTORESET in state transition PRE_OPERATIONAL to SAFE_OPERATIONAL.
If this error is present EtherCAT Slave Interface remains into PRE_OPERATIONAL
state.
Bit 31- Unused (always 0)
27

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Entry Description 0x5000 0x0F

Index 0x5000
Sub-Index 0x0F
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx PdoMap rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "MskWsPreOp"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that are in CanOPEN NMT PRE_OPERATIONAL
state.
Bit 31-3 Bit 2 Bit 1 Bit 0
Unused (always 0) rd
3 DRIVE nd
2 DRIVE 1st DRIVE
Entry Description 0x5000 0x10
Index 0x5000
Sub-Index 0x10
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMap rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "MskWsOp"
Additional Informations
Notes This entry is the bit-mask of the DRIVES that are in CanOPEN NMT OPERATIONAL state.
Bit 31-3 Bit 2 Bit 1 Bit 0
rd nd st
Unused (always 0) 3 DRIVE 2 DRIVE 1 DRIVE

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1.2.2. Object 0x5001 – debug info: ETHERCAT variables

Object Description
Index 0x5001
Data Type RECORD
Max Sub-Index0x0D
Obj Code OBJCODE_RECORD
Name "AS3030 debug info: GENERIC variables"
Entry Description 0x5001 0x00
Index 0x5001
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x0F
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x5001 0x01
Index 0x5001
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ETH_Enable"
Additional Informations
Notes TRUE se EtherCAT Slave Controller enabled.

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Entry Description 0x5001 0x02

Index 0x5001
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ETH_AlControl"
Additional Informations
Notes Value ESC AL_Control Register (ESC address 0x0120).

Entry Description 0x5001 0x03

Index 0x5001
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ETH_AlStatus"
Additional Informations
Notes Value ESC AL_Status Register (ESC address 0x0130).

Entry Description 0x5001 0x04

Index 0x5001
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "ETH_AlStatusCode"
Additional Informations
Notes Value written in ESC AL_StatusCode Register (ESC address 0x0134) if there was a state
transition depending by the Slave.

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Entry Description 0x5001 0x05

Index 0x5001
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ETH_Status"
Additional Informations
Notes Value of EtherCAT State Machine.

Entry Description 0x5001 0x06

Index 0x5001
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ETH_ResoTrans"
Additional Informations
Notes Return code of the last EtherCAT State Machine Transition request.
Entry Description 0x5001 0x07
Index 0x5001
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type SIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ResoETH_Init"
Additional Informations
Notes Return code of the ETH_Init() function.

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Entry Description 0x5001 0x08

Index 0x5001
Sub-Index 0x08
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "CommCyclePeriod"
Additional Informations
Notes Communication Cycle Period (us) (CanOPEN Object 0x1006 0x00) sent to DRIVES during
EtherCAT State Transition PRE_OPERATIONAL to SAFE_OPERATIONAL.

Entry Description 0x5001 0x09

Index 0x5001
Sub-Index 0x09
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "SyncJiitterThreshold"
Additional Informations
Notes Sync Event Jiitter Threshold (usec/10). Absolute Value.
Entry Description 0x5001 0x0A
Index 0x5001
Sub-Index 0x0A
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "LowSyncTimeThreshold"
Additional Informations
Notes Low Sync Event Jiitter Threshold (usec/10).

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Entry Description 0x5001 0x0B

Index 0x5001
Sub-Index 0x0B
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "HighSyncTimeThreshold"
Additional Informations
Notes High Sync Event Jiitter Threshold (usec/10).

Entry Description 0x5001 0x0C

Index 0x5001
Sub-Index 0x0C
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "MinSyncTime"
Additional Informations
Notes Minimum time value measured between two Sync Events (usec/10).
Entry Description 0x5001 0x0D
Index 0x5001
Sub-Index 0x0D
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "MaxSyncTime"
Additional Informations
Notes Maximum time value measured between two Sync Events (usec/10).

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Entry Description 0x5001 0x0E

Index 0x5001
Sub-Index 0x0E
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "GuardTime"
Additional Informations
Notes GuardTime (ms) (CanOPEN Object 0x100C 0x00) sent to DRIVES during EtherCAT State
Transition PRE_OPERATIONAL to SAFE_OPERATIONAL.

Entry Description 0x5001 0x0F

Index 0x5001
Sub-Index 0x0F
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 0 1 1 1
Default -
Value
Min Value -
Max Value -
Description "LifeTimeFactor"
Additional Informations
Notes LifeTimeFactor (CanOPEN Object 0x100D 0x00) sent to DRIVES during EtherCAT State
Transition PRE_OPERATIONAL to SAFE_OPERATIONAL.

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1.2.3. Object 0x5002 – Parameters

Object Description
Index 0x5002
Data Type RECORD
Max Sub-Index0x03
Obj Code OBJCODE_RECORD
Name "AS3030 Parameters"
Entry Description 0x5002 0x00
Index 0x5002
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x08
Min Value -
Max Value -
Description "Num Of Elements"

Entry Description 0x5002 0x01

Index 0x5002
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value Configurable by 1st DRIVE parameter.
Min Value 0
Max Value 1
Description "Tx All EMCY Msg Disable"
Additional Informations
Notes This entry, if set to 1, disable the EMCY messages transmission through MailBox.

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Entry Description 0x5002 0x02

Index 0x5002
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx PdoMap rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default 0
Value
Min Value 0
Max Value 1
Description "Sync Jiitter EMCY Enable"
Additional Informations
Notes This entry, if set to 1, enable the corresponding EMCY message when Sync Event Jiitter
exceeds its relative threshold.

Entry Description 0x5002 0x03

Index 0x5002
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 1 1 1 1
Default 10
Value
Min Value 1
Max Value 10
Description "Admitted sync jiitter percentage"
Additional Informations
Notes This entry is the percentage of Application CycleTime to calculate the Sync Event Jiitter
Threshold for relative management.

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Entry Description 0x5002 0x04

Index 0x5002
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 1 1 1 1
Default 0x0001
Value
Min Value 0x0000
Max Value 0x0003
Description "Eth Port Lost Link Counter Variation PRE_OP Transition Enable Mask"
Additional Informations
Notes This entry is the enable bitmask for the EtherCAT State Machine Transition to
PRE_OPERATIONAL state in case of Value Variation of relative Ethernet PORT_n ESC
LostLinkCounter Register.
If bit is set transition is enabed.
Bit 15-2 Bit 1 Bit 0
Unused (always 0) Enable PORT_1 Enable PORT_0

Entry Description 0x5002 0x05

Index 0x5002
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 1 1 1 1
Default 0x0001
Value
Min Value 0x0000
Max Value 0x0003
Description "Eth Port Lost Link Counter Variation EMCY Msg Enable Mask"
Additional Informations
Notes This entry is the enable bitmask for the EMCY msg in case of Value Variation of relative
Ethernet PORT_n ESC LostLinkCounter Register.
If bit is set EMCY msg is enabed.
Bit 15-2 Bit 1 Bit 0
Unused (always 0) Enable PORT_1 Enable PORT_0

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Entry Description 0x5002 0x06

Index 0x5002
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMap rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 1
Min Value 0
Max Value 1
Description "Eth Port0 NoLink EMCY Msg/PRE_OP Transition Enable Mask"
Additional Informations
Notes This entry is the enable (value 1) for the Ethernet PORT_0 NoLinkDetection Management.

Entry Description 0x5002 0x07

Index 0x5002
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 1 1 1 1
Default Value 0
Min Value 0
Max Value 1
Description "Sync EMCY Enable"
Additional Informations
Notes This entry is the enable (value 1) for the Missing Sync Verify Management.
Entry Description 0x5002 0x08
Index 0x5002
Sub-Index 0x08
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValue DefValue UnitType PdoMap ObjCategory ObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Access tx rx PdoMap wr Op wr SafeOp wr PreOp rd Op rd SafeOp rd PreOp
PdoMap
0 0 0 0 1 1 1 1
Default 1000000
Value
Min Value 250
Max Value 10000000
Description "Missing Sync Test Delay in OP"
Additional Informations
Notes This entry is the delay value (uSec) from the start of OPERATIONAL state to the start of
Missing Sync Verify Management (if enabled).

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1.2.4. Object 0x5003 – Info Structure

Object Description
Index 0x5003
Data Type RECORD
Max Sub-Index0x03
Obj Code OBJCODE_RECORD
Name "Emcy Info Structure"

Entry Description 0x5003 0x00

Index 0x5003
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x03
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x5003 0x01
Index 0x5003
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "Last EMCY Index"
Additional Informations
Notes Index of Last EMCY transmitted from the EtherCAT Slave.

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Entry Description 0x5003 0x02

Index 0x5003
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "Last EMCY Value Low (4 bytes)"
Additional Informations
Notes Last EMCY transmitted from the EtherCAT Slave (LOW 4 bytes).

Entry Description 0x5003 0x03

Index 0x5003
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "Last EMCY Value High (4 bytes)"
Additional Informations
Notes Last EMCY transmitted from the EtherCAT Slave (HIGH 4 bytes).

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1.2.5. Object 0x5004 – Slave Controller Error Counters

Object Description
Index 0x5004
Data Type RECORD
Max Sub-Index0x08
Obj Code OBJCODE_RECORD
Name "EtherCAT Slave Controller Error Counters"
Entry Description 0x5004 0x00
Index 0x5004
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x08
Min Value -
Max Value -
Description "Num Of Elements"

Entry Description 0x5004 0x01

Index 0x5004
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "Port 0 RX Error Counter"
Entry Description 0x5004 0x02
Index 0x5004
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "Port 1 RX Error Counter"

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Entry Description 0x5004 0x03

Index 0x5004
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "Port 0 Forwarded RX Error Counter"

Entry Description 0x5004 0x04

Index 0x5004
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "Port 1 Forwarded RX Error Counter"
Entry Description 0x5004 0x05
Index 0x5004
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ECAT Processing Unit Error Counter"

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Entry Description 0x5004 0x06

Index 0x5004
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "PDI Error Counter"

Entry Description 0x5004 0x07

Index 0x5004
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "Port 0 Lost Link Counter"
Entry Description 0x5004 0x08
Index 0x5004
Sub-Index 0x08
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "Port 1 Lost Link Counter"

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1.2.6. Object 0x5005 – board eeprom configuration

Object Description
Index 0x5005
Data Type RECORD
Max Sub-Index0x07
Obj Code OBJCODE_RECORD
Name "ROBOX board eeprom configuration"
Entry Description 0x5005 0x00
Index 0x5005
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x07
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x5005 0x01
Index 0x5005
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type VISIBLE_STRING
Bit Len 40
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ROBOX Cfg: Configuration Response"
Additional Informations
Notes This entry is the Start-Up Check EEProm Configuration Procedure response.
If response is "BAD" the next entries of this object have vaues not significative.
Values "OK" ROBOX board EEProm valid configuration.
"BAD" ROBOX board EEProm invalid configuration.

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Entry Description 0x5005 0x02

Index 0x5005
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type VISIBLE_STRING
Bit Len 96
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ROBOX Cfg: Part Number"
Additional Informations
Notes Part number in ASCII, 0 filled, left justified.

Entry Description 0x5005 0x03

Index 0x5005
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type VISIBLE_STRING
Bit Len 64
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ROBOX Cfg: Serial Number"
Additional Informations
Notes Serial number in ASCII, 0 filled, left justified.

Entry Description 0x5005 0x04

Index 0x5005
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type VISIBLE_STRING
Bit Len 160
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ROBOX Cfg: Description"
Additional Informations
Notes Description in ASCII, 0 filled, left justified.

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Entry Description 0x5005 0x05

Index 0x5005
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type VISIBLE_STRING
Bit Len 12
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ROBOX Cfg: Port 0 MAC"
Additional Informations
Notes Ethernet Port 0 MAC Code.
Entry Description 0x5005 0x06
Index 0x5005
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type VISIBLE_STRING
Bit Len 12
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ROBOX Cfg: Port 1 MAC"
Additional Informations
Notes Ethernet Port 1 MAC Code.

Entry Description 0x5005 0x07

Index 0x5005
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED16
Bit Len 16
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ROBOX Cfg: HW Revision"
Additional Informations
Notes Board Hardware Revision Code.

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1.2.7. Object 0x5100 – AS3030 debug info: 1st DRIVE variable

Object Description
Index 0x5100
Data Type RECORD
Max Sub-Index0x07
Obj Code OBJCODE_RECORD
Name "AS3030 debug info: 1st DRIVE variables"
Entry Description 0x5100 0x00
Index 0x5100
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x08
Min Value -
Max Value -
Description "Num Of Elements"

Entry Description 0x5100 0x01

Index 0x5100
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "EthFaultMsk"
Additional Informations
Notes EtherCAT Interface Fault Mask for DRIVE.

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Entry Description 0x5100 0x02

Index 0x5100
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "DrvFaultMsk"
Additional Informations
Notes DRIVE Fault Mask.

Entry Description 0x5100 0x03

Index 0x5100
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ErrCksSSC"
Additional Informations
Notes SSC Checksum Error Counter.

Entry Description 0x5100 0x04

Index 0x5100
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ErrTimeOutSSC"
Additional Informations
Notes SSC TimeOut Error Counter.

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Entry Description 0x5100 0x05

Index 0x5100
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "CntErrTimeOutSdo"
Additional Informations
Notes TimeOut on DRIVE SSC SDO Request Error Counter.
Entry Description 0x5100 0x06
Index 0x5100
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "FreeIdxRSdoDrv"
Additional Informations
Notes Index of last SDO sent to DRIVE through SSC channel.

Entry Description 0x5100 0x07

Index 0x5100
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "FreeIdxTSdoDrv"
Additional Informations
Notes Index of last SDO received from DRIVE through SSC channel.

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Entry Description 0x5100 0x08

Index 0x5100
Sub-Index 0x08
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "CntErrCh2"
Additional Informations
Notes SSC Channel 2 Abort Operation Error Counter.

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1.2.8. Object 0x5101 – AS3030 debug info: 2nd DRIVE variable

Object Description
Index 0x5101
Data Type RECORD
Max Sub-Index0x07
Obj Code OBJCODE_RECORD
Name "AS3030 debug info: 2nd DRIVE variables"

Entry Description 0x5101 0x00

Index 0x5101
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x08
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x5101 0x01
Index 0x5101
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "EthFaultMsk"
Additional Informations
Notes EtherCAT Interface Fault Mask for DRIVE.

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Entry Description 0x5101 0x02

Index 0x5101
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "DrvFaultMsk"
Additional Informations
Notes DRIVE Fault Mask.

Entry Description 0x5101 0x03

Index 0x5101
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ErrCksSSC"
Additional Informations
Notes SSC Checksum Error Counter.
Entry Description 0x5101 0x04
Index 0x5101
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ErrTimeOutSSC"
Additional Informations
Notes SSC TimeOut Error Counter.

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Entry Description 0x5101 0x05

Index 0x5101
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "CntErrTimeOutSdo"
Additional Informations
Notes TimeOut on DRIVE SSC SDO Request Error Counter.

Entry Description 0x5101 0x06

Index 0x5101
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "FreeIdxRSdoDrv"
Additional Informations
Notes Index of last SDO sent to DRIVE through SSC channel.
Entry Description 0x5101 0x07
Index 0x5101
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "FreeIdxTSdoDrv"
Additional Informations
Notes Index of last SDO received from DRIVE through SSC channel.

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Entry Description 0x5101 0x08

Index 0x5101
Sub-Index 0x08
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "CntErrCh2"
Additional Informations
Notes SSC Channel 2 Abort Operation Error Counter.

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1.2.9. Object 0x5102 – AS3030 debug info: 3rd DRIVE variable

Object Description
Index 0x5102
Data Type RECORD
Max Sub-Index0x07
Obj Code OBJCODE_RECORD
Name "AS3030 debug info: 3rd DRIVE variables"
Entry Description 0x5102 0x00
Index 0x5102
Sub-Index 0x00
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED8
Bit Len 8
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value 0x08
Min Value -
Max Value -
Description "Num Of Elements"
Entry Description 0x5102 0x01
Index 0x5102
Sub-Index 0x01
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "EthFaultMsk"
Additional Informations
Notes EtherCAT Interface Fault Mask for DRIVE.

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Entry Description 0x5102 0x02

Index 0x5102
Sub-Index 0x02
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "DrvFaultMsk"
Additional Informations
Notes DRIVE Fault Mask.

Entry Description 0x5102 0x03

Index 0x5102
Sub-Index 0x03
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ErrCksSSC"
Additional Informations
Notes SSC Checksum Error Counter.
Entry Description 0x5102 0x04
Index 0x5102
Sub-Index 0x04
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "ErrTimeOutSSC"
Additional Informations
Notes SSC TimeOut Error Counter.

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Entry Description 0x5102 0x05

Index 0x5102
Sub-Index 0x05
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "CntErrTimeOutSdo"
Additional Informations
Notes TimeOut on DRIVE SSC SDO Request Error Counter.
Entry Description 0x5102 0x06
Index 0x5102
Sub-Index 0x06
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "FreeIdxRSdoDrv"
Additional Informations
Notes Index of last SDO sent to DRIVE through SSC channel.
Entry Description 0x5102 0x07
Index 0x5102
Sub-Index 0x07
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "FreeIdxTSdoDrv"
Additional Informations
Notes Index of last SDO received from DRIVE through SSC channel.

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Entry Description 0x5102 0x08

Index 0x5102
Sub-Index 0x08
Value Info Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- MaxValue MinValueDefValue UnitTypePdoMapObjCategoryObjAccess
0 0 0 0 0 1 1 1
Data Type UNSIGNED32
Bit Len 32
Object Access Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tx PdoMaprx PdoMapwr Op wr SafeOpwr PreOprd Op rd SafeOp rd PreOp
0 0 0 0 0 1 1 1
Default Value -
Min Value -
Max Value -
Description "CntErrCh2"
Additional Informations
Notes SSC Channel 2 Abort Operation Error Counter.

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1.3. Emergency Messages (EMCY)

1.3.1. General EMCY

No Error
Description This message is sent when all alarms are cleared.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error Register ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

1.3.2. EtherCAT Interface Sync Manager Configuration EMCY

Sync Manager Configuration Error
Description This message is sent when a EtherCAT State Machine Transition is request with bad Sync
Manager Configuration Parameter.
In this situation the transition is aborted and the PRE_OPERATIONAL or INIT state is set
dependig if the error is relative to Input/Output Sync Managers or MailBox Sync Managers.
Byte 0 Byte Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1
Error Code Error Register ManSpecific 0 ManSpecificManSpecific ManSpecific ManSpecific
1 2 3 4
0x00 0xA0ETH_AlStatusERROR_SYNCMANCH
(code, channel)

1.3.3. EtherCAT Interface Device Specific EMCY

NOTES:
if one DRIVE generates an EMCY msg, EMCY's ManufacturerSpecific[0] byte contains the
number of DRIVE (0x01 if 1st DRIVE, 0x02 if 2nd DRIVE, 0x03 if 3rd DRIVE).
if EtherCAT Interface generates a DeviceSpecific EMCY msg (ErrorCode = 0xFF80), EMCY's
ManufacturerSpecific[0] byte contains value 0xFF.
Load DRIVES CanOPEN Dictionary Error
DescriptionThis message is sent if one or more DRIVES abort theStart-Up CanOPEN Object Dictionary
Exchange Procedure with the EtherCAT Interface.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state and refused
state transition upper the PRE_OPERATIONAL state.
This alarm is not resettable.
Byte 0 Byte Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific 3 ManSpecific 4
Register 0 1 2
0x80 0xFF 0x01 0xFF 0x01 0xC0 MskWsDictOK MskErrLdDrvDict

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Load DRIVES PDO Informations Error

DescriptionThis message is sent if one or more DRIVES abort theStart-Up/RunTime Pdo Info Exchange
Procedure with the EtherCAT Interface.
In RunTime this situation can happen only during EtherCAT Slave Transition from
PRE_OPERATIONAL to SAFE_OPERATIONAL.
In this situation the EtherCAT Slave Interface remains in PRE_OPERATIONAL state and
refused state transition upper the PRE_OPERATIONAL state.
This alarm is not resettable.
Byte 0 Byte Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific 3 ManSpecific 4
Register 0 1 2
0x80 0xFF 0x01 0xFF 0x02 0xC0 MskWsPdoInfoOK MskErrLdDrvPdoInfo
Load DRIVES Inital PDO Mapping Error
Description This message is sent if one or more DRIVES abort theStart-Up Initial Pdo Mapping Procedure
with the EtherCAT Interface.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state and refused
state transition upper the PRE_OPERATIONAL state.
This alarm is not resettable.
Byte 0 Byte Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific 3 ManSpecific 4
Register 0 1 2
0x80 0xFF 0x01 0xFF 0x03 0xC0 MskWsInitPdoOK MskErrWsInitPdo
One or More DRIVES In SSC Set-Up Mode
DescriptionThis message is sent if one or more DRIVES go in SSC Set-Up Mode during normal EtherCAT
Life.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state and refused
state transition upper the PRE_OPERATIONAL state.
This alarm is not resettable.
Byte 0 Byte Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1
Error Code Error ManSpecific 0 ManSpecific 1ManSpecific 2ManSpecific 3 ManSpecific 4
Register
0x80 0xFF 0x01 0xFF 0x04 0xC0 MskWsRunning MskWsSetUp
One or More DRIVES Lost
DescriptionThis message is sent if one or more DRIVES lose their initial communication conditions normal
EtherCAT Life.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state and refused
state transition upper the PRE_OPERATIONAL state.
This alarm is not resettable.
Byte 0 Byte Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific 3 ManSpecific
Register 0 1 2 4
0x80 0xFF 0x01 0xFF 0x05 0xC0 MskWsOkEthStart MskWsLost

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One or More DRIVES Not in OPERATIONAL

DescriptionThis message is sent if one or more DRIVES, in EtherCAT SAFE_OPERATIONAL or
OPERATIONAL State,lose their CanOPEN NMT OPERATIONAL State.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1
Error Code Error ManSpecific 0 ManSpecific 1 ManSpecific 2 ManSpecific 3 ManSpecific 4
Register
0x80 0xFF 0x01 0xFF 0x06 0x40 MskWsOp MskWsNotInOp
Sync Event Jiitter Error
Description This message is sent if Event Jiitter exceeds its relative threshold in EtherCAT
SAFE_OPERATIONAL or OPERATIONAL State, only if this management is enabled.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x07 0x40 0x00 0x00
EtherCAT Application or One or More DRIVES Refuse Communication Cycle Period Value
Description This message is sent if EtherCAT Application or one or more DRIVES refuse the vaule of
CANopen Object 0x1006 0x00 (Communication Cycle Period in us) during the EtherCAT
State Transition from PRE_OPERATIONAL to SAFE_OPERATIONAL state.
Communication Cycle Period Value is calculated by Application Firwmare from Entry
"0x1C32 0x02" value.
In this situation the EtherCAT Slave Interface remains in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x08 0x40 Byte0(Comm Byte1(Comm
CyclePeriod) CyclePeriod)
Timeout in CANopen NMT Transition to PRE_OPERATIONAL state of One or More DRIVES
Description This message is sent during the EtherCAT State Transition to PRE_OPERATIONAL state if or
one or more DRIVES refuse CANopen NMT ENTER_PRE_OPERATIONAL request.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific 3 ManSpecific 4
Register 0 1 2
0x80 0xFF 0x01 0xFF 0x09 0x40 MskWsPreOp MskWsNotInPreOp
Timeout in CANopen NMT Transition to OPERATIONAL state of One or More DRIVES
Description This message is sent during the EtherCAT State Transition from PRE_OPERATIONAL to
SAFE_OPERATIONAL/OPERATIONAL state if or one or more DRIVES refuse CANopen
NMT START request.
In this situation the EtherCAT Slave Interface remains in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x0A 0x40 MskWsOp MskWsNotIn
Op

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Lost Link Error On ETH PORT_0

Description This message is sent if PORT_0 LostLinkCounterRegister Value is changed (ESC address
0x0310) , only if this management is enabled.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x0B 0x00 Act Value Old Value
P0_LostLink P0_LostLink
Cnt Cnt
Lost Link Error On ETH PORT_1
Description This message is sent if PORT_1 LostLinkCounterRegister Value is changed (ESC address
0x0311) , only if this management is enabled.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x0C 0x00 Act Value Old Value
P1_LostLink P1_LostLink
Cnt Cnt
No Link Detection Error On ETH PORT_0
Description This message is sent if there is no PORT_0 Link Detection Bit in ESC_DL_Status Register
(ESC address 0x0110).
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x0D 0x00 0x00 0x00
1st DRIVE SSC Checksum Error
Description This message is sent if aSSC checksum error is detected with 1stDRIVE.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x0E 0x00 ErrCksSSC
2nd DRIVE SSC Checksum Error
Description This message is sent if aSSC checksum error is detected with 2ndDRIVE.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x0F 0x00 ErrCksSSC
3rd DRIVE SSC Checksum Error
Description This message is sent if aSSC checksum error is detected with 3rdDRIVE.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x10 0x00 ErrCksSSC

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One or More DRIVES Refuse Guard Time Value

Description This message is sent if one or more DRIVES refuse the vaule of CANopen Object 0x100C
0x00 (Guard Time in ms) during the EtherCAT State Transition from PRE_OPERATIONAL
to SAFE_OPERATIONAL state.
Guard Time Value is calculated by Application Firwmare from Communication Cycle Period
value:

GuardTime = 1 + CommCyclePeriod/1000;
if (GuardTime < MIN_GUARD_TIME)
GuardTime = MIN_GUARD_TIME;

In this situation the EtherCAT Slave Interface remains in PRE_OPERATIONAL state.

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x12 0x40 GuardTime

One or More DRIVES Refuse Life Time Factor Value

Description This message is sent if one or more DRIVES refuse the vaule of CANopen Object 0x100D
0x00 (Life Time Factor) during the EtherCAT State Transition from PRE_OPERATIONAL to
SAFE_OPERATIONAL state.
Life Time Factor Value is written from 1st DRIVE during initial configuration.
In this situation the EtherCAT Slave Interface remains in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x13 0x40 LifeTimeFactor
1st DRIVE SSC Timeout Error
Description This message is sent if aSSC timeout error is detected with 1stDRIVE.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
This alarm is not resettable.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x14 0xC0 ErrTimeOutSSC
2nd DRIVE SSC Timeout Error
Description This message is sent if aSSC timeout error is detected with 2ndDRIVE.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
This alarm is not resettable.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x15 0xC0 ErrTimeOutSSC
3rd DRIVE SSC Timeout Error
Description This message is sent if aSSC timeout error is detected with 3rdDRIVE.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
This alarm is not resettable.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x16 0xC0 ErrTimeOutSSC

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Parker Hannifin S.p.A S.B.C. Division Ethercat interface

Missing Sync Error

Description This message is sent if aMissing Sync error is detected (if relative management is enabled).
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific ManSpecific ManSpecific ManSpecific ManSpecific
Register 0 1 2 3 4
0x80 0xFF 0x01 0xFF 0x18 0x40 0x00 0x00
One or More DRIVES Refuse Pdo Validation Request
Description This message is sent if one or more DRIVES refuse the Validation Request of assigned and
mapped PDO during the EtherCAT State Transition from PRE_OPERATIONAL to
SAFE_OPERATIONAL state.
In this situation the EtherCAT Slave Interface remains in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific 0 ManSpecific 1 ManSpecific 2 ManSpecific 3 ManSpecific 4
Register
0x80 0xFF 0x01 0xFF 0x19 0x40 0x00 0x00
Pdo Assign Error
Description This message is sent if there is an error on PDO Assign Configurationduring the EtherCAT State
Transition from PRE_OPERATIONAL to SAFE_OPERATIONAL state.
In this situation the EtherCAT Slave Interface goes in PRE_OPERATIONAL state.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error Code Error ManSpecific 0 ManSpecific 1 ManSpecific 2 ManSpecific 3 ManSpecific 4
Register
0x80 0xFF 0x01 0xFF 0x1A 0x40 0x00 0x00

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 Parker Hannifin S.p.A S.B.C. Division Ethercat interface

2 Revision history of the User Manual

Rev. 0.0 First edition

For other informations log into website www.sbcelettronica.com. Arranges to the manual data can be made by the
manufacturer without advance notice. The data shown in the manual correspond to the specifications relating to the
revision date

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