CR2041 - Industrial Automation IFM - Free user manual and instructions

USER MANUAL CR2041 IFM

Prise M12, 5 pôles, codage A (Con. 1...8, CAN OUT)

1:LEDIN07
2:LEDIN15
3:LEDIN05
4:LEDIN13
5:LEDIN03
6:LEDIN11
7:LEDIN01
8:LEDIN09
9:LEDIN08
10:LEDIN00
11:LEDIN10
12:LEDIN02
13:LEDIN12
14:LEDIN04
15:LEDIN14
16:LEDIN06

Abréviations A

Analogue

BH TOR niveau haut

BL TOR nivea bas

LED E/S 16 x LED orange

LED Power (PWR) LED verte

LED Mode (M) LED verte

LED d'application (A...D)

LED Lock (symbole de cadenas)

LED de diagnostic (DIA)

Affichage

A, BD, CC, DB, DC, DD,

Prise M12, 5 pôles, codage A (Con. 1...8, CAN OUT)

Prise M12, 5 pôles, codage A (Con. 1...8, CAN OUT)

The following error codes according to DSP-401 or DSP-301 are supported:

EMCY code	Error reg	Additive	Onal code Description
0x6100 0x11	0x00 "Internal Software		Overflow of an Rx queue e.g. frequency of the RxP-DOs is too high. Reset only externally via entry in the indey 0x1003 SubIdx 00."
0x6101 0x11	0x00 "Internal Software		Overflow of an Tx queue e.g. device does not communicate with the bus. Reset only externally via entry in the indey 0x1003 SubIdx 00."
0x8000 0x11	0x00 "Monitoring Sync Error		For communication cycle no sync object is received. Only in Operational. Reset with the next sync OBJ or PREOP"
0x8100 0x11	0x00 Communication Err
0x8131 0x11	0x00 "Monitoring Heart Beat Error		No guard object is received. Reset with the next Heart beat or PREOP"
0x63xx 0x01	0x00 "Invalid parameter of an input or output. ""xx"" means number of the IO-channel (00 ... 15)"
0x5000 0x01	0x00 Memory Error
0x3308 0x05	0x00 VBB2 error (only CR2041, CR2042)
0x90xx 0x01	0x00 "Frequency input, Frequency too low"
0x21xx 0x03	0x00 "Inputs, Openline"		""xx"" means number of the IO-channel (00 ... 15)"
0x21xx 0x03	0x00 "Inputs, Short circuit"		""xx"" means number of the IO-channel (00 ... 15)"
0x21xx 0x03	0x00 "Inputs, Overcurrent"		""xx"" means number of the IO-channel (00 ... 15) + 16; CR2042 (00 ... 07) + 8"
0x23xx 0x03	0x00 "outputs, Openline"		""xx"" means number of the IO-channel CR2041 (00 ... 15); CR2042 (00 ... 07)"
0x23xx 0x03	0x00 "outputs, Short circuit"		""xx"" means number of the IO-channel CR2041 (00 ... 15) + 16; CR2042 (00 ... 07) + 8"
0x23xx 0x03	0x00 "outputs, Overload"		""xx"" means number of the IO-channel CR2041 (00 ... 15) + 32; CR2042 (00 ... 07) + 16"

CANopen does not provide for two identical EMCY objects to be sent consecutively.

12.2 Object directory CR204x

Obligatory objects (index 0x1000...0x1FFF):

Index S-index Design Data type Default Details
0x1000 Device type ro UDINT 0x000F0191 Device type
0x1001 Error register ro USINT 0 Error register bit coded to profile					301 Permissible values: 0b0000 0000 = no error 0b0000 0001 = generic error 0b0001 0000 = communication error 0b1000 0000 = manufacturer specific
0x1018 0x00 Device identification Number of entries		ro USINT 0x04		Device	identification
0x01	Vendor-ID	ro	UDINT	0x0069666D	Vendor ID oft he device according to CiA specification
0x02	Product code ro STRING 0 Product code of the device
0x03			Revision number			ro UDINT 0 Revision number of the device
0x04			Serial number			ro UDINT 0 Serial number of the device
0x1003 0x00 Predefined error field Number of entries		rw	UDINT 0 An error list with 4 entries is supported
0x01			Error history			ro UDINT 0 Error occurred, coded according to EMCY list The last error is indicated in the sub-index 1
0x02			Error history			ro UDINT 0 Error occurred, coded according to EMCY list
0x03			Error history			ro UDINT 0 Error occurred, coded according to EMCY list
0x04			Error history			ro UDINT 0 Error occurred, coded according to EMCY list
0x05			Error history			ro UDINT 0 Error occurred, coded according to EMCY list
Index S-index Design Data type			Default Details
0x1005	COB-ID	synch message	rw U	DINT 0x000	0080 Identifier of the synch messageBit 30 = 0 → device generates no synch messageBit 30 = 1 → device generates a synch messageBit 29 = 0 → 11 bit IDBit 29 = 1 → ID = 0x80 + node ID
0x1006	Communication cycle period		rw U	DINT 0 Max. time between 2 synch objects in [μs]Control resolution = 1 ms
0x1008	Manufacturer device name	ro STRING CR204x Device designation (CR2040 or CR2041 or CR2042)
0x1009	Manufacturer hardware version	ro STRING V00.00.00 Hardware version
0x100A	Manufacturer software version	ro STRING V00.00.00 Software version
0x1010	0x00	Store parametersLargest sub-index supported	ro USINT 0x01		Number of "save options"
	0x01	Save all parameters	rw U	DINT 2 Automatic saving of all parameters changed0 = AutoSave OFF2 = AutoSave ON
0x1011	0x00	Restore default parametersLargest sub-index supported	ro USINT 0x01		Number of "restore options"
	0x01	Restore all default parameters	rw U	DINT 0x01	If the String "load" is entered here, the default parameters set at the factory are restored and become valid after the next reset.
0x1014	COBIidEmergency	rw	UDINT	0x80 + node ID	Bit 31 = 0 → EMCY is validBit 31 = 1 → EMCY is not validBit 29 = 0 → 11-bit IDBit 29 = 1 → ID = 0x80 + node IDCAN identifier can be changed by the user.
Index S-index Design Data type Default Details
0x1016	0x00	Consumer heartbeat times	ro USINT 0x01 Heartbeat monitoring			time for the nodeNumber of devices monitored = 1
		Numbers consumer heartbeat time
	0x01	Consumer heartbeat time	rw USINT 0 Heartbeat monitoring			time for the nodeFormat: 0x0nntttttt tt=monitoring time [ms] nn = node numberif nn=0 or tttt=0 → no monitoring
0x1017	Producer	heartbeat time	rw USINT 0 Time	interval [ms] during		which the device generates a producer heartbeat

12.2.1 Device-specific CR2040

Transmit PDO communication parameters (index 0x1800...0x18FF):

Index Sidx Designation Data type Default Details
0x1800 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 1number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x180 +Node ID			CAN ID of the transmit PDO 1Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0xFF 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UINT		0	delay time	in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0			reserve
0x05 event time	rw	UINT	0	max. transfer break in the transmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1801 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 2number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x280 +Node ID			CAN ID of the transmit PDO 2Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UINT 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1802 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 3number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x380 +Node ID			CAN ID of the transmit PDO 3Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1803 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 4number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x480 +Node ID			CAN ID of the transmit PDO 4Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1804 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 5number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x181 +Node ID			CAN ID of the transmit PDO 5Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1805 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 6number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x281 +Node ID			CAN ID of the transmit PDO 6Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.

Index S-idx Designation Data type Default Details

0x1806 0x00 Transmit					ro USINT 0x05 Configuration transmit PDO 7
PDO Com-munication					number of entries = 5
Parameter
Number of entries
0x01 COBID used by PDO	rw UDINT 0x381 + Node ID	CAN ID of the transmit PDO 7 Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
0x02 transmission type					rw USINT 0x01 0x00 = synch acyclic
						0x01...0xF0 = synch cyclic; values are only transmitted after „n" synch objects n = 1...240 = 0x01...0xF0 0xFC/0xCD not implemented 0xFE = asynch man. spec. event; values are immediately transferred 0xFF = asynch device profile event; values are immediately transferred
0x03 inhibit time rw UINT 0 delay time in the transmission		type "asynch" before the PDO is transmitted again at the earliest. (0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time					rw UINT 0 max. transfer break in the transmis-si-on type „asynch" (0...65535 ms) When this time has elapsed, the PDO is transferred even if the appl. event has not accured.
Index Sidx Designation Data type Default Details
0x1807 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 8number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x481 +Node ID			CAN ID of the transmit PDO 8Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1808 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 9number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x182 +Node ID			CAN ID of the transmit PDO 9Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1809 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 10number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x282 +Node ID			CAN ID of the transmit PDO 10Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.

Transmit PDO mapping (index 0x1A00...0x1AFF):

Index S-index Design Data type Default Details
0x1A00	0x00 TransmitPDO map-pingNumber of mapped objects in PDO	rw USINT 0x07 mapping transmit				PDO 1number of integrated applicationobjects = 7
	0x01 PDO map-ping	rw USINT 0x60000108 Index 0x6000, SubIndex 0x01binary inputs 00...07: actual values(bit coded)
	0x02 PDO map-ping	rw USINT 0x60000208 Index 0x6000, SubIndex 0x02binary inputs 08...15: actual values(bit coded)
	0x03 PDO map-ping	rw USINT 0x20200108 Index 0x2020, SubIndex 0x01binary inputs 00...07: flag "shortcircuit" (bit coded)
	0x04 PDO map-ping	rw USINT 0x20200208 Index 0x2020, SubIndex 0x02binary inputs 08...15: flag "shortcircuit" (bit coded)
	0x05 PDO map-ping	rw USINT 0x20210108 Index 0x2021, SubIndex 0x01outputs 00...07: flag " wire break " (bit coded)
	0x06 PDO map-ping	rw USINT 0x20210208 Index 0x2021, SubIndex 0x02outputs 08...15: flag " wire break " (bit coded)
	0x07 PDO map-ping	rw USINT 0x20250108 Index 0x2025, SubIndex 0x01inputs 00...03: flag " overload " (bit coded)
Index Sidx Design Data type
0x1A01	0x00 TransmitPDO map-pingNumber of mapped objects in PDO	rw USINT 0x04 mapping transmit			PDO 2 (analogue inputs)number of integrated application objects = 4
	0x01 PDO map-ping	rw USINT 0x64040110 Index 0x6404, SubIndex 0x01 analogue input 00: actual value (depending on the configuration 0x2000)
	0x02 PDO map-ping	rw USINT 0x64040210 Index 0x6404, SubIndex 0x02 analogue input 01: actual value (depending on the configuration 0x2000))
	0x03 PDO map-ping	rw USINT 0x64040310 Index 0x6404, SubIndex 0x03 analogue input 02: actual value (depending on the configuration 0x2000)
	0x04 PDO map-ping	rw USINT 0x64040410 Index 0x6404, SubIndex 0x04 analogue input 03: actual value (depending on the configuration 0x2000)
0x1A02	0x00 TransmitPDO map-pingNumber of mapped objects in PDO	rw USINT 0x04 mapping transmit			PDO 3 (analogue inputs)number of integrated application objects = 4
	0x01 PDO map-ping	rw USINT 0x64040510 Index 0x6404, SubIndex 0x05 analogue input 04: actual value (depending on the configuration 0x2000)
	0x02 PDO map-ping	rw USINT 0x64040610 Index 0x6404, SubIndex 0x06 analogue input 05: actual value (depending on the configuration 0x2000))
	0x03 PDO map-ping	rw USINT 0x64040710 Index 0x6404, SubIndex 0x07 analogue input 06: actual value (depending on the configuration 0x2000)
	0x04 PDO map-ping	rw USINT 0x64040810 Index 0x6404, SubIndex 0x08 analogue input 07: actual value (depending on the configuration 0x2000)
Index S-idx Design Data type			Default Details
0x1A03	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x04 mapping transmit				PDO 4number of integrated applicationobjects = 4
	0x01 PDO mapping	rw USINT 0x20300110 Index 0x2030, SubIndex 0x01input 08: actual resistor value
	0x02 PDO mapping	rw USINT 0x20300210 Index 0x2030, SubIndex 0x02input 10: actual resistor value
	0x03 PDO mapping	rw USINT 0x20300310 Index 0x2030, SubIndex 0x03input 12: actual resistor value
	0x04 PDO mapping	rw USINT 0x20300410 Index 0x2030, SubIndex 0x04input 14: actual resistor value
0x1A04	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x02 mapping transmit				PDO 5 (periodetime IN09, IN11)number of integrated applicationobjects = 2
	0x01 PDO mapping	rw USINT 0x20120120 Index 0x2012, SubIndex 0x01frequency input IN09: periode time ofthe signal
	0x02 PDO mapping	rw USINT 0x20120220 Index 0x2012, SubIndex 0x02frequency input IN11: periode time ofthe signal
0x1A05	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x02 mapping transmit				PDO 6 (periodetime IN13, IN15)number of integrated applicationobjects = 2
	0x01 PDO mapping	rw USINT 0x20120320 Index 0x2012, SubIndex 0x03frequency input IN13: periode time ofthe signal
	0x02 PDO mapping	rw USINT 0x20120420 Index 0x2012, SubIndex 0x04frequency input IN15: periode time ofthe signal
Index S-index Design Data type Default Details
0x1A06	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x04 mapping transmit			PDO 7 (duty cycle of the signal on the frequency input IN09, IN11, IN13, IN15) number of integrated application objects = 4
	0x01 DO mapping	rw USINT 0x2014 0110 Index 0x2014, SubIndex 0x01 frequency input IN09: duty cycle of the signal in %o
	0x02 DO mapping	rw USINT 0x2014 0210 Index 0x2014, SubIndex 0x02 frequency input IN11: duty cycle of the signal in %o
	0x03 DO mapping	rw USINT 0x2014 0310 Index 0x2014, SubIndex 0x03 frequency input IN13: duty cycle of the signal in %o
	0x04 DO mapping	rw USINT 0x2014 0410 Index 0x2014, SubIndex 0x04 frequency input IN15: duty cycle of the signal in %o
0x1A07	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x02 mapping transmit			PDO 8 (frequency on IN09, IN11) number of integrated application objects = 2
	0x01 DO mapping	rw USINT 0x2015 0120 Index 0x2015, SubIndex 0x01 frequency input IN09: frequency value of the signal in Hz
	0x02 DO mapping	rw USINT 0x2015 0220 Index 0x2015, SubIndex 0x02 frequency input IN11: frequency value of the signal in Hz
0x1A08	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x02 mapping transmit			PDO 9 (frequency on IN13, IN15) number of integrated application objects = 2
	0x01 DO mapping	rw USINT 0x2015 0320 Index 0x2015, SubIndex 0x03 frequency input IN13: frequency value of the signal in Hz
	0x02 DO mapping	rw USINT 0x2015 0420 Index 0x2015, SubIndex 0x04 frequency input IN15: frequency value of the signal in Hz
0x1A09 0x00 TransmitPDO map-pingNumber ofmappedobjects inPDO		rw USINT 0x02 mapping transmit				PDO 10 (systemflag)number of integrated applicationobjects = 2
0x01 PDO map-ping		rw U DINT 0x204 00110 Index 0x2040, SubIndex 0x01supply voltage of the system VBSS
0x02 PDO map-ping		rw U DINT 0x205 00010 Index 0x2050, SubIndex 0x00system temperature in °C

Manufacturer-specific objekts (index 0x2000...0x6FFF):

Index S-index Design Data type Default Details
0x2000 0x00 IO configuration Largest sub-index supported		ro USINT 16 Configuration inputs		outputs largest supported Sub-index = 32
0x01 Configuration IN00		rw USINT 10 0 = 0x00		3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C	off Input IN000...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched
0x02 Configuration IN01		rw USINT 10 0 = 0x00		3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C	off Input IN010...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched
0x03 Configuration IN02		rw USINT 10 0 = 0x00		3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C	off Input IN020...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched
Index Sidx Designation Data type Default Details
0x2000	0x04 ConfigurationIN03	rw USINT 10 0 =	0x00	3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0xA11 = 0xB12 = 0xC	off Input IN030...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched
	0x05 ConfigurationIN04	rw USINT 10 0 =	0x00	3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0xA11 = 0xB12 = 0xC	off Input IN040...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched
	0x06 ConfigurationIN05	rw USINT 10 0 =	0x00	3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0xA11 = 0xB12 = 0xC	off Input IN050...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched
	0x07 ConfigurationIN06	rw USINT 10 0 =	0x00	3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0xA11 = 0xB12 = 0xC	off Input IN060...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched
	0x08 ConfigurationIN07	rw USINT 10 0 =	0x00	3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0xA11 = 0xB12 = 0xC	off Input IN070...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched
	0x09 ConfigurationIN08	rw USINT 10 0 =	0x00	10 = 0xA11 = 0xB18 = 0x12	off Input IN08binary plus switched binary plus switched with diagnosis 16...30 000 Ohm
Index S-index Design Data type Default Details
0x2000	0x0A Configuration IN09	rw USINT 01 0 = 0x00			01 = 0x0114 = 0xE20 = 0x14	off Input IN09 binary plus switched frequency0...30 000 Hz period duration
	0x0B Configuration IN10	rw USINT 10 0 = 0x00			10 = 0xA11 = 0xB18 = 0x12	off Input IN10 binary plus switched binary plus switched with diagnosis16...30 000 Ohm
	0x0C Configuration IN11	rw USINT 01 0 = 0x00			01 = 0x0114 = 0xE20 = 0x14	off Input IN11 binary plus switched frequency0...30 000 Hz period duration
	0x0D Configuration IN12	rw USINT 10 0 = 0x00			10 = 0xA11 = 0xB18 = 0x12	off Input IN12 binary plus switched binary plus switched with diagnosis16...30 000 Ohm
	0x0E Configuration IN13	rw USINT 01 0 = 0x00			01 = 0x0114 = 0xE20 = 0x14	off Input IN12 binary plus switched frequency0...30 000 Hz period duration
	0x0F Configuration IN14	rw USINT 10 0 = 0x00			10 = 0xA11 = 0xB18 = 0x12	off Input IN14 binary plus switched binary plus switched with diagnosis16...30 000 Ohm
	0x10 Configuration IN15	rw USINT 01 0 = 0x00			01 = 0x0114 = 0xE20 = 0x14	off Input IN15 binary plus switched frequency0...30 000 Hz period duration
0x2012	0x00 Period input ro USINT 4			Largest subindex supported
	0x01 Period durati-on IN09	ro	UDINT	0	IN09 period duration [μs]
	0x02 Period durati-on IN11	ro	UDINT	0	IN11 period duration [μs]
	0x03 Period durati-on IN13	ro	UDINT	0	IN13 period duration [μs]
	0x04 Period durati-on IN15	ro	UDINT	0	IN15 period duration [μs]

Index Sidx Designation Data type		Default Details
0x2013 0x00 Period input number of periods for average		ro USINT 4 Largest sub-index supported
0x01 Numb der input number of periods IN09		rw USINT 4 1...255 IN09 number of					periods
0x02 Numb der input period s IN11		rw USINT 4 1...255 IN11 number of					periods
0x03 Numb der input period s IN13		rw USINT 4 1...255 IN13 number of					periods
0x04 Numb der input period s IN15		rw USINT 4 1...255 IN15 number of					periods
0x2014 0x00 Period input - ratio value		ro USINT 4 Largest sub-index supported
0x01 Period ratio value IN09		ro UINT 0 0...1 000 IN09 marc-to-space					ratio [%]
0x02 Period ratio value IN11		ro UINT 0 0...1 000 IN11 marc-to-space					ratio [%]
0x03 Period ratio value IN13		ro UINT 0 0...1 000 IN13 marc-to-space					ratio [%]
0x04 Period ratio value IN15		ro UINT 0 0...1 000 IN15 marc-to-space					ratio [%]
0x2015 0x00 Frequency input		ro USINT 4 Largest sub-index supported
0x01 Frequency IN09		ro REAL 1 0...30 000 IN09 frequency [Hz]
0x02 Frequency IN11		ro REAL 1 0...30 000 IN11 frequency [Hz]
0x03 Frequency IN13		ro REAL 1 0...30 000 IN13 frequency [Hz]
0x04 Frequency IN15		ro REAL 1 0...30 000 IN15 frequency [Hz]
0x2016 0x00 Timebase ro USINT 4 Largest sub-index supported
0x01 Timebase IN09		rw UINT 50	0...2 000 IN09 timebase [ms]
0x02 Timebase IN11		rw UINT 50	0...2 000 IN11 timebase [ms]
0x03 Timebase IN13		rw UINT 50	0...2 000 IN13 timebase [ms]
0x04 Timebase IN15		rw UINT 50	0...2 000 IN15 timebase [ms]

Index S-index Design Data type Default Details
0x2020	0x00 Input - short to supply voltage	ro USINT 2 Largest sub-index supported
	0x01 Short to supply voltage IN00...IN07	ro USINT 0 0 = normal	1 = short circuit	channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---- X---- = IN040b---- -X- = IN050b-X---- = IN060bX---- = IN07
	0x02 Short to supply voltage IN08, IN10, IN12, IN14	ro USINT 0 0 = normal	1 = short circuit	channels (bit coded)0b---- ---X = IN080b---- --X- = IN100b---- -X-- = IN120b---- X---- = IN14
0x2021	0x00 Input - wire break	ro USINT 2 Largest sub-index supported
	0x01 Wire break IN00...IN07	ro USINT 0 0 = normal	1 = wire break	channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---- X---- = IN040b---- -X- = IN050b-X---- = IN060bX---- = IN07
	0x02 Wire break IN08, IN10, IN12, IN14	ro USINT 0 0 = normal	1 = wire break	channels (bit coded)0b---- ---X = IN080b---- --X- = IN100b---- -X-- = IN120b---- X---- = IN14
0x2025	0x00 Input analog - overcurrent	ro USINT 1 Largest sub-index supported
	0x01 Overcurrent IN00...IN07	ro USINT 0 0 = normal	1 = overcurrent	channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---- X---- = IN040b-X---- = IN050b-X---- = IN060bX---- = IN07

Index S-index Design Data type
0x2030	0x00 Input resistor ro USIN4 Largest sub-index supported
	0x01 ResistanceIN08	ro UINT 0 0...30	000 IN08 resistance			[Ohms]
	0x02 ResistanceIN10	ro UINT 0 0...30	000 IN10 resistance			[Ohms]
	0x03 ResistanceIN12	ro UINT 0 0...30	000 IN12 resistance			[Ohms]
	0x04 ResistanceIN14	ro UINT 0 0...30	000 IN14 resistance			[Ohms]
0x2040	0x00 System supp-ly voltageVBBS	ro USINT 1 Largest sub-index supported
	0x01 VBBS ro USINT 0 VBB$ voltage [mV]
0x2050	Device temperature	ro UINT 0 temperature [°C]
0x20F0		Node ID	rw	USINT	125	1...125	node ID[!] value(0x20F0) !=value(20F1)
0x20F1		Node ID	rw	USINT	125	1...125	node ID[!] value(0x20F0) !=value(20F1)
0x20F2	Baud rate	rw USINT 3 baud rate				[!] value(0x20F2) != value(20F3)
						0	1000 kBits/s
						1	800 kBits/s
						2	500 kBits/s
						3	250 kBits/s
						4	125 kBits/s
						5	100 kBits/s
						6	50 kBits/s
						7	20 kBits/s
0x20F3	Baud rate	rw USINT 3 baud rate				[!] value(0x20F2) != value(20F3)
0x20F4	Autostart	rw UART 0 not used
0x20F5	Lock edit	mode	rw USINT 0 0 =edit mode unlocked			1 = edit mode locked
0x20F6	CAN inter-face	rw USINT 1 1...2	CAN interface			[!] value(0x20F6) !=value(20F7)
0x20F7	CAN inter-face	rw USINT 1 1...2	CAN interface			[!] value(0x20F6) !=value(20F7)

Index S-index Designation Data type		pe Default Details
0x6000	0x00 Binary inputLargestsub-indexsupported	ro USINT 0x02 Binary inputs		Largest supported sub-index = 2
	0x01 Binary inputsIN00 - IN07	ro USINT 0 BinaIy inputs IN00...		N070b---- ---X = IN000b---- -X- = IN010b---- -X-- = IN020b---- X--- = IN030b---- -X---- = IN040b--X- ----= IN050b-X- ----= IN060bX--- ----= IN07
	0x02 Binary inputsIN08 - IN15	ro USINT 0 BinaIy inputs IN08...		N150b---- ---X = IN080b---- -X- = IN090b---- -X-- = IN100b---- X--- = IN110b---- -X---- = IN120b--X- ----= IN130b-X- ----= IN140bX--- ----= IN15
0x6404	0x00 AnalogueinputLargestsub-indexsupported	ro USINT 0x08 Analogue inputs		Largest supported sub-index = 4
	0x01 Analogueinput IN00	ro USINT -- Analogue value of input IN00
	0x02 Analogueinput IN01	ro USINT -- Analogue value of input IN01
	0x03 Analogueinput IN02	ro USINT -- Analogue value of input IN02
	0x04 Analogueinput IN03	ro USINT -- Analogue value of input IN03
	0x05 Analogueinput IN04	ro USINT -- Analogue value of input IN04
	0x06 Analogueinput IN05	ro USINT -- Analogue value of input IN05
	0x07 Analogueinput IN06	ro USINT -- Analogue value of input IN06
	0x08 Analogueinput IN07	ro USINT -- Analogue value of input IN07

12.2.2 Device-specific CR2041

Receive PDO communication parameters (index 0x1400...0x14FF):

Index S-index Design Data type Default Details
0x1400	0x00Receive PDO Communication Parame- ter Number of entries	ro USINT 0x02Receive PDO 1: binary outputs 0 - 15 number of entries = 2
	0x01OBID used by PDO	rw USINT 0x200+ node ID	CAN ID of the first read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
	0x02transmission type	rw USINT 0x010x00 = synch acyclic	0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0x01...0xF0 0xFC/0xCD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately
0x1401	0x00Receive PDO Communication Parame- ter Number of entries	ro USINT 0x02Receive PDO 2: PWM outputs 0 - 3 number of entries = 2
	0x01OBID used by PDO	rw USINT 0x300+ node ID	CAN ID of the second read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
	0x02transmission type	rw USINT 0x010x00 = synch acyclic	0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0x1...0xF0 0xFC/0xCD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

Index S-index Design Data type Default Details
0x1402	0x00Receive PDO Communication Parameter Number of entries	ro USINT 0x02Receive PDO 3: PWM outputs 4 - 7 number of entries = 2
	0x01 OBID used by PDO	rw USINT 0x400 + node ID			CAN-ID of the 3. read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
	0x02 transmission type	rw USINT 0x01 0x00 = synch acyclic			0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0x01...0xF0 0xFC/0xCD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately
0x1403	0x00Receive PDO Communication Parameter Number of entries	ro USINT 0x02Receive PDO 4: PWM outputs 8 - 11 number of entries = 2
	0x01 OBID used by PDO	rw USINT 0x500 + node ID			CAN-ID of the 3. read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
	0x02 transmission type	rw USINT 0x01 0x00 = synch acyclic			0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0x01...0xF0 0xFC/0xCD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately
Index Sidx Design Data type Default Details
0x1404 0x00 Receive PDO Communication Parame- ter Number of entries	ro USINT 0x02Receive PDO 5: PWM outputs 12 - 15 number of entries = 2
0x01 OBID used by PDO	rw USINT 0x201+ node ID	CAN-ID of the 3. read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
0x02 transmission type	rw USINT 0x010x00 = synch acyclic 0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0x01...0xF0 0xFC/0xCD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

Receive PDO mapping (index 0x1600...0x16FF):

Index S-index Design Data type Default Details
0x1600 0x00 Receive PDO mapping Number of mapped objects in PDO		rw USINT 0x02	Mapping read PDO		DO 1: binary outputs number of integrated application objects = 2
0x01 PDO mapping		ro UDDINT 0x6200	0108 1 byte in	index 0x6200, SubIndex 01 Binary outputs OUT00...OUT070b---- ---X = OUT000b---- -X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---- X---- = OUT040b--X---- = OUT050b-X---- = OUT060bX---- = OUT07
0x02 PDO mapping		ro UDDINT 0x6200	0208 1 byte in	index 0x6200, SubIndex 02 Binary outputs OUT08...OUT150b---- ---X = OUT080b---- -X- = OUT090b---- -X-- = OUT100b---- X--- = OUT110b---- X---- = OUT120b--X---- = OUT130b-X---- = OUT140bX---- = OUT15
Index S-idx Design Data type Default Details
0x1601 0x00 Receive PDO mapping Number of mapped objects in PDO		rw USINT 0x04		Mapping read PDO 2: PWM outputs OUT00...OUT03 number of integrated application objects = 4
0x01 PDO mapping		rw U DINT 0x641		4 0110 PWM/current output OUT00 Index 0x6414, SubIndex 0x01 contains the preset value of the PWM output OUT00, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x02 PDO mapping		rw U DINT 0x641		4 0210 PWM/current output OUT01 Index 0x6414, SubIndex 0x02 contains the preset value of the PWM output OUT01, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x03 PDO mapping		rw U DINT 0x641		4 0310 PWM/current output OUT02 Index 0x6414, SubIndex 0x03 contains the preset value of the PWM output OUT02, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x04 PDO mapping		rw U DINT 0x641		4 0410 PWM/current output OUT03 Index 0x6414, SubIndex 0x04 contains the preset value of the PWM output OUT03, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x1602 0x00 "ReceivePDO map-pingNumber ofmappedobjects inPDO"		rw USINT 0x04		Mapping read PDO 3: PWM outputs OUT04...OUT07number of integrated applicationobjects = 4
0x01 PDO map-ping		rw U DINT 0x641		4 0510 PWM/ current output OUT04Index 0x6414, SubIndex 0x05contains the preset value of thePWM output OUT04, the value isinterpreted as duty cycle in %o or astarget current value (depending onthe configuration index 0x2000)
0x02 PDO map-ping		rw U DINT 0x641		4 0610 PWM/ current output OUT05Index 0x6414, SubIndex 0x06contains the preset value of thePWM output OUT05, the value isinterpreted as duty cycle in %o or astarget current value (depending onthe configuration index 0x2000)
0x03 PDO map-ping		rw U DINT 0x641		4 0710 PWM/ current output OUT06Index 0x6414, SubIndex 0x07contains the preset value of thePWM output OUT06, the value isinterpreted as duty cycle in %o or astarget current value (depending onthe configuration index 0x2000)
0x04 PDO map-ping		rw U DINT 0x641		4 0810 PWM/ current output OUT07Index 0x6414, SubIndex 0x08contains the preset value of thePWM output OUT07, the value isinterpreted as duty cycle in %o or astarget current value (depending onthe configuration index 0x2000)
0x1603 0x00 Receive PDO mapping Number of mapped objects in PDO		rw USINT 0x04		Mapping read PDO 4: PWM outputs OUT08...OUT11 number of integrated application objects = 4
0x01 PDO mapping		rw U DINT 0x641		4 0910 PWM/ current output OUT08 Index 0x6414, SubIndex 0x09 contains the preset value of the PWM output OUT08, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x02 PDO mapping		rw U DINT 0x641		4 0A10 PWM/ current output OUT09 Index 0x6414, SubIndex 0x0A contains the preset value of the PWM output OUT09, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x03 PDO mapping		rw U DINT 0x641		4 0B10 PWM/ current output OUT10 Index 0x6414, SubIndex 0x0B contains the preset value of the PWM output OUT10, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x04 PDO mapping		rw U DINT 0x641		4 0C10 PWM/ current output OUT11 Index 0x6414, SubIndex 0x0C contains the preset value of the PWM output OUT11, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)

Index S-idx Design Data type Default Details
0x1604 0x00 Receive PDO mapping Number of mapped objects in PDO		rw USINT 0x04	Mapping read PDO 5: PWM outputs OUT12...OUT15 number of integrated application objects = 4
0x01 PDO mapping		rw U DINT 0x641	4 0D10 PWM/ current output OUT12 Index 0x6414, SubIndex 0x0D contains the preset value of the PWM output OUT12, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x02 PDO mapping		rw U DINT 0x641	4 0E10 PWM/ current output OUT13 Index 0x6414, SubIndex 0x0E contains the preset value of the PWM output OUT13, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x03 PDO mapping		rw U DINT 0x641	4 0F10 PWM/ current output OUT14 Index 0x6414, SubIndex 0x0F contains the preset value of the PWM output OUT14, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x04 PDO mapping		rw U DINT 0x641	4 1010 PWM/ current output OUT15 Index 0x6414, SubIndex 0x10 contains the preset value of the PWM output OUT15, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)

Transmit PDO communication parameters (index 0x1800...0x18FF):

Index S-index Design Data type Default Details
0x1800 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 1number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x180 +Node ID			CAN ID of the transmit PDO 1Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UINT 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event timerw UINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
Index Sidx Designation Data type Default Details
0x1801 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 2number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x280 +Node ID			CAN ID of the transmit PDO 2Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1802 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 3number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x380 +Node ID			CAN ID of the transmit PDO 3Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1803 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 4number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x480 +Node ID			CAN ID of the transmit PDO 4Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event timerw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.

Transmit PDO mapping (index 0x1A00...0x1AFF):

Index S-index Design Data type Default Details
0x1A00 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO		rw USINT 0x04 mapping transmit			PDO 01 (output current OUT00...OUT03) number of integrated application objects = 4
0x01 PDO mapping		rw UDINT 0x2002 0110 Index 0x2002, SubIndex 0x01 current on output OUT00
0x02 PDO mapping		rw UDINT 0x2002 0210 Index 0x2002, SubIndex 0x02 current on output OUT01
0x03 PDO mapping		rw UDINT 0x2002 0310 Index 0x2002, SubIndex 0x03 current on output OUT02
0x04 PDO mapping		rw UDINT 0x2002 0410 Index 0x2002, SubIndex 0x04 current on output OUT03
0x1A01 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO		rw USINT 0x04 mapping transmit			PDO 02 (output current OUT04...OUT07) number of integrated application objects = 4
0x01 PDO mapping		rw UDINT 0x2002 0510 Index 0x2002, SubIndex 0x05 current on output OUT04
0x02 PDO mapping		rw UDINT 0x2002 0610 Index 0x2002, SubIndex 0x06 current on output OUT05
0x03 PDO mapping		rw UDINT 0x2002 0710 Index 0x2002, SubIndex 0x07 current on output OUT06
0x04 PDO mapping		rw UDINT 0x2002 0810 Index 0x2002, SubIndex 0x08 current on output OUT07
Index S-index Design Data type		Default Details
0x1A02	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x05	mapping transmit	PDO 3number of integrated applicationobjects = 5
	0x01 PDO mapping	rw UDINT 0x202	20108 Index 0x2	2022, SubIndex 0x01outputs 00...07: flag " short circuit " (bit coded)
	0x02 PDO mapping	rw UDINT 0x202	20208 Index 0x2	2022, SubIndex 0x02outputs 08...15: flag " short circuit " (bit coded)
	0x03 PDO mapping	rw UDINT 0x202	30108 Index 0x2	2023, SubIndex 0x01outputs 00...07: flag " wire break " (bit coded)
	0x04 PDO mapping	rw UDINT 0x202	30208 Index 0x2	2023, SubIndex 0x02outputs 08...015: flag " wire break " (bit coded)
	0x05 PDO mapping	rw UDINT 0x202	40108 Index 0x2	2024, SubIndex 0x01outputs 00...07: flag " overload " (bit coded)
0x1A03	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x04	mapping transmit	PDO 4 (systemflag)number of integrated applicationobjects = 4
	0x01 PDO mapping	rw UDINT 0x204	0110 Index 0x2	2040, SubIndex 0x01supply voltage of the system VBBS
	0x02 PDO mapping	rw UDINT 0x204	10110 Index 0x2	2041, SubIndex 0x01output supply voltage VBB1
	0x03 PDO mapping	rw UDINT 0x204	10210 Index 0x2	2041, SubIndex 0x02output supply voltage VBB2
	0x04 PDO mapping	rw UDINT 0x205	0010 Index 0x2	2050, SubIndex 0x00system temperature in °C

Manufacturer-specific objekts (index 0x2000...0x6FFF):

Index S-index Design Data type Default Details
0x2000	0x00 IO	configuration	ro USINT 16 Configuration inputs	/outputs largest supported Sub-index = 32
		Largest sub-index supported
	0x01 Configuration OUT00	rw USINT 20 = 0x00	2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT00 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x02 Configuration OUT01	rw USINT 20 = 0x00	2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT01 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x03 Configuration OUT02	rw USINT 20 = 0x00	2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT02 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x04 Configuration OUT03	rw USINT 20 = 0x00	2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT03 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x05 Configuration OUT04	rw USINT 20 = 0x00	2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT04 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

Index S-index Design Data type Default Details
0x2000	0x06 Configuration OUT05	rw USINT 2 0 = 0x00			2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT05 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x07 Configuration OUT06	rw USINT 2 0 = 0x00			2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT06 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x08 Configuration OUT07	rw USINT 2 0 = 0x00			2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT06 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x09 Configuration OUT08	rw USINT 2 0 = 0x00			2 = 0x024 = 0x0415 = 0xF	off Output OUT08 binary plus switched PWM output binary plus switched with diagnosis
	0x0A Configuration OUT09	rw USINT 2 0 = 0x00			2 = 0x024 = 0x0415 = 0xF	off Output OUT09 binary plus switched PWM output binary plus switched with diagnosis
	0x0B Configuration OUT10	rw USINT 2 0 = 0x00			2 = 0x024 = 0x0415 = 0xF	off Output OUT10 binary plus switched PWM output binary plus switched with diagnosis
	0x0C Configuration OUT11	rw USINT 2 0 = 0x00			2 = 0x024 = 0x0415 = 0xF	off Output OUT11 binary plus switched PWM output binary plus switched with diagnosis
0x2000	0x0D Configuration OUT12	rw USINT 20 = 0x00		2 = 0x024 = 0x0415 = 0x0F	off Output OUT12 binary plus switched PWM output binary plus switched with diagnosis
	0x0E Configuration OUT13	rw USINT 20 = 0x00		2 = 0x024 = 0x0415 = 0x0F	off Output OUT13 binary plus switched PWM output binary plus switched with diagnosis
	0x0F Configuration OUT14	rw USINT 20 = 0x00		2 = 0x024 = 0x0415 = 0x0F	off Output OUT14 binary plus switched PWM output binary plus switched with diagnosis
	0x10 Configuration OUT15	rw USINT 20 = 0x00		2 = 0x024 = 0x0415 = 0x0F	off Output OUT15 binary plus switched PWM output binary plus switched with diagnosis
0x2001	0x00 PWM fre-quency	ro USINT 16 Largest sub-index supported
	0x01 PWM frequency OUT00	rw USINT 100	20...250	OUT00	PWM freque-cy [Hz]
	0x02 PWM frequency OUT01	rw USINT 100	20...250	OUT01	PWM freque-cy [Hz]
	0x03 PWM frequency OUT02	rw USINT 100	20...250	OUT02	PWM freque-cy [Hz]
	0x04 PWM frequency OUT03	rw USINT 100	20...250	OUT03	PWM freque-cy [Hz]
	0x05 PWM frequency OUT04	rw USINT 100	20...250	OUT04	PWM freque-cy [Hz]
	0x06 PWM frequency OUT05	rw USINT 100	20...250	OUT05	PWM freque-cy [Hz]
	0x07 PWM frequency OUT06	rw USINT 100	20...250	OUT06	PWM freque-cy [Hz]
	0x08 PWM frequency OUT07	rw USINT 100	20...250	OUT07	PWM freque-cy [Hz]
Index Sidx Designation Data type		pe Default Details
0x2001	0x09 PWM frequency OUT08	rw UINT 100 20...	.250 OUT08 PWM frequen-			cy [Hz]
	0x0A PWM frequency OUT09	rw UINT 100 20...	.250 OUT09 PWM frequen-			cy [Hz]
	0x0B PWM frequency OUT10	rw UINT 100 20...	.250 OUT10 PWM frequen-			cy [Hz]
	0x0C PWM frequency OUT11	rw UINT 100 20...	.250 OUT11 PWM frequen-			cy [Hz]
	0x0D PWM frequency OUT12	rw UINT 100 20...	.250 OUT12 PWM frequen-			cy [Hz]
	0x0E PWM frequency OUT13	rw UINT 100 20...	.250 OUT13 PWM frequen-			cy [Hz]
	0x0F PWM frequency OUT14	rw UINT 100 20...	.250 OUT14 PWM frequen-			cy [Hz]
	0x10 PWM frequency OUT15	rw UINT 100 20...	.250 OUT15 PWM frequen-			cy [Hz]
0x2002	0x00 Current value	ro	USINT	8	Largest sub-index supported
	0x01 Current value OUT00	ro	UINT 0	20...	4000	OUT00 output current [mA]
	0x02 Current value OUT01	ro	UINT 0	20...	4000	OUT01 output current [mA]
	0x03 Current value OUT02	ro	UINT 0	20...	4000	OUT02 output current [mA]
	0x04 Current value OUT03	ro	UINT 0	20...	4000	OUT03 output current [mA]
	0x05 Current value OUT04	ro	UINT 0	20...	2500	OUT04 output current [mA]
	0x06 Current value OUT05	ro	UINT 0	20...	2500	OUT05 output current [mA]
	0x07 Current value OUT06	ro	UINT 0	20...	2500	OUT06 output current [mA]
	0x08 Current value OUT07	ro	UINT 0	20...	2500	OUT07 output current [mA]
Index Sidx Designation Data type Default Details
0x2004 0x00 P-value ro USINT 8	Large sub-index supported
0x01 P-value OUT00	rw USINT 30 0...	255 OUT00 P-value for current control
0x02 P-value OUT01	rw USINT 30 0...	255 OUT01 P-value for current control
0x03 P-value OUT02	rw USINT 30 0...	255 OUT02 P-value for current control
0x04 P-value OUT03	rw USINT 30 0...	255 OUT03 P-value for current control
0x05 P-value OUT04	rw USINT 30 0...	255 OUT04 P-value for current control
0x06 P-value OUT05	rw USINT 30 0...	255 OUT05 P-value for current control
0x07 P-value OUT06	rw USINT 30 0...	255 OUT06 P-value for current control
0x08 P-value OUT07	rw USINT 30 0...	255 OUT07 P-value for current control
0x00 I-value ro USINT 8 Largest sub-index supported
0x01 I-value OUT00	rw USINT 20 0...	255 OUT00 I-value for current control
0x02 I-value OUT01	rw USINT 20 0...	255 OUT01 I-value for current control
0x03 I-value OUT02	rw USINT 20 0...	255 OUT02 I-value for current control
0x04 I-value OUT03	rw USINT 20 0...	255 OUT03 I-value for current control
0x05 I-value OUT04	rw USINT 20 0...	255 OUT04 I-value for current control
0x06 I-value OUT05	rw USINT 20 0...	255 OUT05 I-value for current control
0x07 I-value OUT06	rw USINT 20 0...	255 OUT06 I-value for current control
0x08 I-value OUT07	rw USINT 20 0...	255 OUT07 I-value for current control
0x00 PWM dither frequency	ro USINT 16 Largest sub-index supported
0x01 PWM dither frequency OUT00	rw INT 0 0...PWM-	freq / 2		OUT00 PWM dither frequency [Hz]
0x02 PWM dither frequency OUT01	rw INT 0 0...PWM-	freq / 2		OUT01 PWM dither frequency [Hz]

Index S-index Design Data type Default Details
0x2006	0x03 PWM dither frequency OUT02	rw UINT 0 0...PWM-	freq / 2	OUT02 PWM dither frequency [Hz]
	0x04 PWM dither frequency OUT03	rw UINT 0 0...PWM-	freq / 2	OUT03 PWM dither frequency [Hz]
	0x05 PWM dither frequency OUT04	rw UINT 0 0...PWM-	freq / 2	OUT04 PWM dither frequency [Hz]
	0x06 PWM dither frequency OUT05	rw UINT 0 0...PWM-	freq / 2	OUT05 PWM dither frequency [Hz]
	0x07 PWM dither frequency OUT06	rw UINT 0 0...PWM-	freq / 2	OUT06 PWM dither frequency [Hz]
	0x08 PWM dither frequency OUT07	rw UINT 0 0...PWM-	freq / 2	OUT07 PWM dither frequency [Hz]
	0x09 PWM dither frequency OUT08	rw UINT 0 0...PWM-	freq / 2	OUT08 PWM dither frequency [Hz]
	0x0A PWM dither frequency OUT09	rw UINT 0 0...PWM-	freq / 2	OUT09 PWM dither frequency [Hz]
	0x0B PWM dither frequency OUT10	rw UINT 0 0...PWM-	freq / 2	OUT10 PWM dither frequency [Hz]
	0x0C PWM dither frequency OUT11	rw UINT 0 0...PWM-	freq / 2	OUT11 PWM dither frequency [Hz]
	0x0D PWM dither frequency OUT12	rw UINT 0 0...PWM-	freq / 2	OUT12 PWM dither frequency [Hz]
	0x0E PWM dither frequency OUT13	rw UINT 0 0...PWM-	freq / 2	OUT13 PWM dither frequency [Hz]
	0x0F PWM dither frequency OUT14	rw UINT 0 0...PWM-	freq / 2	OUT14 PWM dither frequency [Hz]
	0x10 PWM dither frequency OUT15	rw UINT 0 0...PWM-	freq / 2	OUT15 PWM dither frequency [Hz]

UK

Index S-index Design Data type Default Details
0x2007 0x00 PWM dither value	ro USINT 16 Largest sub-index supported
0x01 PWM dither value OUT00	rw UINT 0 0...1 000 OUT00 PWM dither			value [%]
0x02 PWM dither value OUT01	rw UINT 0 0...1 000 OUT01 PWM dither			value [%]
0x03 PWM dither value OUT02	rw UINT 0 0...1 000 OUT02 PWM dither			value [%]
0x04 PWM dither value OUT03	rw UINT 0 0...1 000 OUT03 PWM dither			value [%]
0x05 PWM dither value OUT04	rw UINT 0 0...1 000 OUT04 PWM dither			value [%]
0x06 PWM dither value OUT05	rw UINT 0 0...1 000 OUT05 PWM dither			value [%]
0x07 PWM dither value OUT06	rw UINT 0 0...1 000 OUT06 PWM dither			value [%]
0x08 PWM dither value OUT07	rw UINT 0 0...1 000 OUT07 PWM dither			value [%]
0x09 PWM dither value OUT08	rw UINT 0 0...1 000 OUT08 PWM dither			value [%]
0x0A PWM dither value OUT09	rw UINT 0 0...1 000 OUT09 PWM dither			value [%]
0x0B PWM dither value OUT10	rw UINT 0 0...1 000 OUT10 PWM dither			value [%]
0x0C PWM dither value OUT11	rw UINT 0 0...1 000 OUT11 PWM dither			value [%]
0x0D PWM dither value OUT12	rw UINT 0 0...1 000 OUT12 PWM dither			value [%]
0x0E PWM dither value OUT13	rw UINT 0 0...1 000 OUT13 PWM dither			value [%]
0x0F PWM dither value OUT14	rw UINT 0 0...1 000 OUT14 PWM dither			value [%]
0x10 PWM dither value OUT15	rw UINT 0 0...1 000 OUT15 PWM dither			value [%]

Index Sidx Designation Data type			Default Details
0x2022	0x00 Output - short circuit		ro USINT 2 Largest sub-index supported
	0x01 Short circuit OUT00... OUT07		ro USINT 0 0 = normal		1 = short circuit	channels (bit coded) 0b---- ---X = OUT00 0b---- -X= OUT01 0b---- -X= OUT02 0b---- X--- = OUT03 0b---- X---- = OUT04 0b--X---- = OUT05 0b-X---- = OUT06 0bX---- = OUT07
	0x02 Short circuit OUT08... OUT15		ro USINT 0 0 = normal		1 = short circuit	channels (bit coded) 0b---- ---X = OUT08 0b---- -X= OUT09 0b---- -X= OUT10 0b---- X--- = OUT11 0b---- X---- = OUT12 0b--X---- = OUT13 0b-X---- = OUT14 0bX---- = OUT15
0x2023	0x00 Output - open circuit		ro USINT 2 Largest sub-index supported
	0x01 Open circuit OUT00... OUT07		ro USINT 0 0 = normal		1 = open circuit	channels (bit coded) 0b---- ---X = OUT00 0b---- -X= OUT01 0b---- -X= OUT02 0b---- X--- = OUT03 0b---- X---- = OUT04 0b--X---- = OUT05 0b-X---- = OUT06 0bX---- = OUT07
	0x02 Open circuit OUT08... OUT15		ro USINT 0 0 = normal		1 = open circuit	channels (bit coded) 0b---- ---X = OUT08 0b---- -X= OUT09 0b---- -X= OUT10 0b---- X--- = OUT11 0b---- X---- = OUT12 0b--X---- = OUT13 0b-X---- = OUT14 0bX---- = OUT15
0x2024	0x00 Output - overload		ro USINT 1 Largest sub-index supported
	0x01 Overload OUT00... OUT07		ro USINT 0 0 = normal		1 = overload	channels (bit coded) 0b---- ---X = OUT00 0b---- -X= OUT01 0b---- -X= OUT02 0b---- X--- = OUT03 0b---- X---- = OUT04 0b-X---- = OUT05 0b-X---- = OUT06 0bX---- = OUT07

UK

Index S-index Design Data type			te Default Details
0x2040	0x00 System supp-ly voltage VBBS		ro USINT 1 Largest sub-index supported
	0x01 VBBS ro USINT 0 VBBS voltage [mV]
0x2041	0x00 Output supp-ly voltage		ro USINT 2 Largest sub-index supported
	0x01 VBB1 ro UINT 0 VBB1 voltage [mV]
	0x02 VBB2 ro UINT 0 VBB2 voltage [mV]
0x2050	Device temperature		ro INT 0 temperature [°C]
0x20F0		Node ID	rw	USINT	125	1...125 node ID [!] value(0x20F0) != value(20F1)
0x20F1		Node ID	rw	USINT	125	1...125 node ID [!] value(0x20F0) != value(20F1)
0x20F2	Baud rate	rw USINT 3	baud rate		[!] value(0x20F2) != value(20F3)
					0	1000 kBits/s
					1	800 kBits/s
					2	500 kBits/s
					3	250 kBits/s
					4	125 kBits/s
					5	100 kBits/s
					6	50 kBits/s
					7	20 kBits/s
0x20F3	Baud rate	rw USINT 3	baud rate		[!] value(0x20F2) != value(20F3)
0x20F4	Autostart	rw UINT 0 not used
0x20F5	Lock edit	mode	rw	USINT 0 0 = edit mode unlocked
							1 = edit mode locked
0x20F6	CAN inter-face	rw	USINT 1 1...2 CAN interface			[!] value(0x20F6) != value(20F7)
0x20F7	CAN inter-face	rw	USINT 1 1...2 CAN interface			[!] value(0x20F6) != value(20F7)

Index S-index Design Data type Default Details
0x6200 0x00 Binary outputLargestsub-indexsupported		ro USINT 2 Binary outputs			Largest supported sub-index = 2
0x01 Binary out-puts OUT00- OUT07		wo USINT 0 Binary outputs OUT00...OUT070b---- ---X = OUT000b---- -X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---- X---- = OUT040b--X---- = OUT050b-X---- = OUT060bX---- ---- = OUT07
0x02 Binary out-puts OUT08- OUT15		wo USINT 0 Binary outputs OUT08...OUT150b---- ---X = OUT080b---- -X- = OUT090b---- -X-- = OUT100b---- X--- = OUT110b---- X---- = OUT120b--X---- = OUT130b-X---- = OUT140bX---- ---- = OUT15

UK

Index S-idx Designation Data type Default Details
0x6414 0x00 PWM outputLargestsub-indexsupported		ro USINT 16 PWM outputs			Largest supported sub-index = 16
0x01 PWM outputOUT00		wo INT -- Value for PWM output OUT00
0x02 PWM outputOUT01		wo INT -- Value for PWM output OUT01
0x03 PWM outputOUT02		wo INT -- Value for PWM output OUT02
0x04 PWM outputOUT03		wo INT -- Value for PWM output OUT03
0x05 PWM outputOUT04		wo INT -- Value for PWM output OUT04
0x06 PWM outputOUT05		wo INT -- Value for PWM output OUT05
0x07 PWM outputOUT06		wo INT -- Value for PWM output OUT06
0x08 PWM outputOUT07		wo INT -- Value for PWM output OUT07
0x09 PWM outputOUT08		wo INT -- Value for PWM output OUT08
0x0A PWM outputOUT09		wo INT -- Value for PWM output OUT09
0x0B PWM outputOUT10		wo INT -- Value for PWM output OUT10
0x0C PWM outputOUT11		wo INT -- Value for PWM output OUT11
0x0D PWM outputOUT12		wo INT -- Value for PWM output OUT12
0x0E PWM outputOUT13		wo INT -- Value for PWM output OUT13
0x0F PWM outputOUT14		wo INT -- Value for PWM output OUT14
0x10 PWM outputOUT15		wo INT -- Value for PWM output OUT15

12.2.3 Device-specific CR2042

Receive PDO communication parameters (index 0x1400...0x14FF):

Index S-index Design Data type Default Details
0x1400	0x00Receive PDO Communication Parame- ter Number of entries	ro USINT 0x02Receive PDO 1: binary outputs 0 - 7 number of entries = 2
	0x01OBID used by PDO	rw USINT 0x200+ node ID			CAN ID of the first read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
	0x02transmission type	rw USINT 0x010x00 = synch acyclic			0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0x01...0xF0 0xFC/0xCD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately
0x1401	0x00Receive PDO Communication Parame- ter Number of entries	ro USINT 0x02Receive PDO 2: PWM outputs 0 - 3 number of entries = 2
	0x01OBID used by PDO	rw USINT 0x300+ node ID			CAN ID of the second read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
	0x02transmission type	rw USINT 0x010x00 = synch acyclic			0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0xD0...0xF0 0xFC/0xCD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately
Index Sidx Design Data type Default Details
0x1402 0x00 Receive PDO Communication Parame- ter Number of entries	ro USINT 0x02Receive PDO 3: PWM outputs 4 - 7 number of entries = 2
0x01 OBID used by PDO	rw USINT 0x400+ node ID	CAN-ID of the 3. read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
0x02 transmission type	rw USINT 0x010x00 = synch acyclic 0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0x01...0xF0 0xFC/0xCD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

Receive PDO mapping (index 0x1600...0x16FF):

Index S-index Design Data type Default Details
0x1600 0x00 Receive PDO mapping Number of mapped objects in PDO		rw U	SINT 0x01	Mapping read PDO 1: binary outputs
0x01 PDO mapping		ro U	DINT 0x6200	0108 1 byte in index 0x6200, SubIndex 01 Binary outputs OUT00...OUT070b---- ---X = OUT000b---- -X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---- X---- = OUT040b--X---- = OUT050b-X---- = OUT060bX---- = OUT07

Index S-idx Design Data type Default Details
0x1601	0x00Receive PDO mapping Number of mapped objects in PDO	rw USINT 0x04Mapping read PDO 2: PWM outputs OUT00...OUT03 number of integrated application objects = 4
	0x01PDO mapping	rw U DINT 0x6414 0110 PWM/current output OUT00 Index 0x6414, SubIndex 0x01 contains the preset value of the PWM output OUT00, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
	0x02PDO mapping	rw U DINT 0x6414 0210 PWM/current output OUT01 Index 0x6414, SubIndex 0x02 contains the preset value of the PWM output OUT01, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
	0x03PDO mapping	rw U DINT 0x6414 0310 PWM/current output OUT02 Index 0x6414, SubIndex 0x03 contains the preset value of the PWM output OUT02, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
	0x04PDO mapping	rw U DINT 0x6414 0410 PWM/current output OUT03 Index 0x6414, SubIndex 0x04 contains the preset value of the PWM output OUT03, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x1602 0x00 Receive PDO mapping Number of mapped objects in PDO	rw USINT 0x04	Mapping read PDO 3: PWM outputs OUT04...OUT07 number of integrated application objects = 4
0x01 PDO mapping	rw U DINT 0x641	4 0510 PWM/ current output OUT04 Index 0x6414, SubIndex 0x05 contains the preset value of the PWM output OUT04, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x02 PDO mapping	rw U DINT 0x641	4 0610 PWM/ current output OUT05 Index 0x6414, SubIndex 0x06 contains the preset value of the PWM output OUT05, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x03 PDO mapping	rw U DINT 0x641	4 0710 PWM/ current output OUT06 Index 0x6414, SubIndex 0x07 contains the preset value of the PWM output OUT06, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)
0x04 PDO mapping	rw U DINT 0x641	4 0810 PWM/ current output OUT07 Index 0x6414, SubIndex 0x08 contains the preset value of the PWM output OUT07, the value is interpreted as duty cycle in %o or as target current value (depending on the configuration index 0x2000)

Transmit PDO communication parameters (index 0x1800...0x18FF):

Index S-index Design Data type Default Details
0x1800 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 1number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x180 +Node ID			CAN ID of the transmit PDO 1Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UINT 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event timerw UINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
Index Sidx Designation Data type Default Details
0x1801 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 2number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x280 +Node ID			CAN ID of the transmit PDO 2Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UINT 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw_USINT 0 reserve
0x05 event time rw UINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
Index S-index Design Data type Default Details
0x1802 0x00 TransmitPDO CommunicationParameterNumber ofentries		ro USINT 0x05 Configuration transmits PIO number of entries = 5
0x01 OBID usedby PDO		rw USINT 0x380 +Node ID			CAN ID of the transmit PDO 3Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UINT 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event timerw UINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
Index Sidx Designation Data type Default Details
0x1803 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 4number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x480 +Node ID			CAN ID of the transmit PDO 4Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1804 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 5number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x181 +Node ID			CAN ID of the transmit PDO 5Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
0x1805 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 6number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x281 +Node ID			CAN ID of the transmit PDO 6Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
Index S-index Design Data type Default Details
0x1806 0x00 TransmitPDO CommunicationParameterNumber ofentries		ro USINT 0x05 Configuration transmits PIO7number of entries = 5
0x01 OBID usedby PDO		rw USINT 0x381 +Node ID			CAN ID of the transmit PDO 7Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UINT 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event timerw UINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
Index Sidx Designation Data type Default Details
0x1807 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 8number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x481 +Node ID			CAN ID of the transmit PDO 8Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
Index S-index Design Data type Default Details
0x1808 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 9number of entries = 5
0x01 OBID usedby PDO		rw USINT 0x182 +Node ID			CAN ID of the transmit PDO 9Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UINT 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event timerw UINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
Index Sidx Designation Data type Default Details
0x1809 0x00 TransmitPDO Com-municationParameterNumber ofentries		ro USINT 0x05 Configuration transmit PDO 10number of entries = 5
0x01 COBID usedby PDO		rw USINT 0x282 +Node ID			CAN ID of the transmit PDO 10Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
0x02 transmissiontype		rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
0x03 inhibit time rw UART 0 delay time inthe transmission					type "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
0x04 reserved rw USINT 0 reserve
0x05 event time rw UART 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.
Index S-index Design Data type Default Details
0x180A	0x00 TransmitPDO CommunicationParameterNumber ofentries	ro USINT 0x05 Configuration transmits PIO 11number of entries = 5
	0x01 OBID usedby PDO	rw USINT 0x382 +Node ID			CAN ID of the transmit PDO 11Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid
	0x02 transmissiontype	rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xCD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred
	0x03 inhibit time rw UART 0			delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 · 100 μs)
	0x04 reserved rw USINT 0			reserve
	0x05 event time rw UART 0			max. transferbreak in the transmis-sion type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured.

Transmit PDO mapping (index 0x1A00...0x1AFF):

Index S-index Design Data type Default Details
0x1A00	0x00 TransmitPDO map-pingNumber of mapped objects in PDO	rw USINT 0x07 mapping transmit				PDO 1number of integrated applicationobjects = 7
	0x01 PDO map-ping	rw USINT 0x60000108 Index 0x6000, SubIndex 0x01binary inputs 00...07: actual values(bit coded)
	0x02 PDO map-ping	rw USINT 0x2020108 Index 0x2020, SubIndex 0x01binary inputs 00...07: flag "shortcircuit" (bit coded)
	0x03 PDO map-ping	rw USINT 0x2021018 Index 0x2021, SubIndex 0x01binary inputs 00...07: flag "wire break"(bit coded)
	0x04 PDO map-ping	rw USINT 0x20250108 Index 0x2025, SubIndex 0x01inputs 00, 01, 02 und 03: flag "over-load" (bit coded)
	0x05 PDO map-ping	rw USINT 0x20220108 Index 0x2022, SubIndex 0x01outputs 00...07: flag " short circuit"(bit coded)
	0x06 PDO map-ping	rw USINT 0x20230108 Index 0x2023, SubIndex 0x01outputs 00...07: flag " wire break " (bit coded)
	0x07 PDO map-ping	rw USINT 0x20240108 Index 0x2024, SubIndex 0x01outputs 00...07: flag " overload " (bit coded)
0x1A01	0x00 TransmitPDO map-pingNumber of mapped objects in PDO	rw USINT 0x04 mapping transmit			PDO 2 (analogue inputs)number of integrated application objects = 4
	0x01 DO map-ping	rw U DINT 0x6404 0110 Index 0x6404, SubIndex 0x01 analogue input 00: actual value (depending on the configuration 0x2000)
	0x02 DO map-ping	rw U DINT 0x6404 0210 Index 0x6404, SubIndex 0x02 analogue input 01: actual value (depending on the configuration 0x2000))
	0x03 DO map-ping	rw U DINT 0x6404 0310 Index 0x6404, SubIndex 0x03 analogue input 02: actual value (depending on the configuration 0x2000)
	0x04 DO map-ping	rw U DINT 0x6404 0410 Index 0x6404, SubIndex 0x04 analogue input 03: actual value (depending on the configuration 0x2000)
0x1A02	0x00 TransmitPDO map-pingNumber of mapped objects in PDO	rw USINT 0x04 mapping transmit			PDO 3 number of integrated application objects = 4
	0x01 DO map-ping	rw U DINT 0x2030 0110 Index 0x2030, SubIndex 0x01 input 04: actual resistor value
	0x02 PDO map-ping	rw U DINT 0x2030 0210 Index 0x2030, SubIndex 0x02 input 05: actual resistor value
	0x03 PDO map-ping	rw U DINT 0x2030 0310 Index 0x2030, SubIndex 0x03 input 06: actual resistor value
	0x04 PDO map-ping	rw U DINT 0x2030 0410 Index 0x2030, SubIndex 0x04 input 07: actual resistor value
0x1A03	0x00 TransmitPDO mappingNumber of mapped objects inPDO	rw USINT 0x02 mapping transmit			PDO 4 (periode time IN00...IN01) number of integrated application objects = 2
	0x01 PDO mapping	rw USINT 0x2012 0120 Index 0x2012, SubIndex 0x01 frequency input IN00: periode time of the signal
	0x02 PDO mapping	rw USINT 0x2012 0220 Index 0x2012, SubIndex 0x02 frequency input IN01: periode time of the signal
0x1A04	0x00 TransmitPDO mappingNumber of mapped objects inPDO	rw USINT 0x02 mapping transmitPDO 5 (periode time IN02...IN03) number of integrated application objects = 2
	0x01 PDO mapping	rw USINT 0x2012 0320 Index 0x2012, SubIndex 0x03 frequency input IN02: periode time of the signal
	0x02 PDO mapping	rw USINT 0x2012 0420 Index 0x2012, SubIndex 0x04 frequency input IN03: periode time of the signal
0x1A05	0x00 TransmitPDO mappingNumber of mapped objects inPDO	rw USINT 0x04 mapping transmitPDO 6 (duty cycle of the signal on the frequency input IN00, IN01, IN02, IN03) number of integrated application objects = 4
	0x01 PDO mapping	rw USINT 0x2014 0110 Index 0x2014, SubIndex 0x01 frequency input IN00: duty cycle of the signal in‰
	0x02 PDO mapping	rw USINT 0x2014 0210 Index 0x2014, SubIndex 0x02 frequency input IN01: duty cycle of the signal in‰
	0x03 PDO mapping	rw USINT 0x2014 0310 Index 0x2014, SubIndex 0x03 frequency input IN02: duty cycle of the signal in‰
	0x04 PDO mapping	rw USINT 0x2014 0410 Index 0x2014, SubIndex 0x04 frequency input IN03: duty cycle of the signal in‰
Index S-idx Design Data type Default Details
0x1A06	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x02 mapping transmit			PDO 7 (frequencyon IN00...IN01)number of integrated applicationobjects = 2
	0x01 PDO mapping	rw USINT 0x2015 0120 Index 0x2015, SubIndex 0x01frequency input IN00: frequencyvalue of the signal in Hz
	0x02 PDO mapping	rw USINT 0x2015 0220 Index 0x2015, SubIndex 0x02frequency input IN01: frequencyvalue of the signal in Hz
0x1A07	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x02 mapping transmit			PDO 8 (frequencyon IN02...IN03)number of integrated applicationobjects = 2
	0x01 PDO mapping	rw USINT 0x2015 0320 Index 0x2015, SubIndex 0x03frequency input IN02: frequencyvalue of the signal in Hz
	0x02 PDO mapping	rw USINT 0x2015 0420 Index 0x2015, SubIndex 0x04frequency input IN03: frequencyvalue of the signal in Hz
0x1A08	0x00 TransmitPDO mappingNumber of mapped objects in PDO	rw USINT 0x04 mapping transmit			PDO 9 (outputcurrent OUT00...OUT03)number of integrated applicationobjects = 4
	0x01 PDO mapping	rw USINT 0x2002 0110 Index 0x2002, SubIndex 0x01current on output OUT00
	0x02 PDO mapping	rw USINT 0x2002 0210 Index 0x2002, SubIndex 0x02current on output OUT01
	0x03 PDO mapping	rw USINT 0x2002 0310 Index 0x2002, SubIndex 0x03current on output OUT02
	0x04 PDO mapping	rw USINT 0x2002 0410 Index 0x2002, SubIndex 0x04current on output OUT03
Index Sidx Designation Data type Default Details
0x1A09 0x00 TransmitPDO map- pingNumber of mapped objects in PDO		rw USINT 0x04 mapping transmit				PDO 10 (output current OUT04...OUT07) number of integrated application objects = 4
0x01 PDO map- ping		rw UDDINT 0x2002 0510 Index 0x2002, SubIndex 0x05 current on output OUT04
0x02 PDO map- ping		rw UDDINT 0x2002 0610 Index 0x2002, SubIndex 0x06 current on output OUT05
0x03 PDO map- ping		rw UDDINT 0x2002 0710 Index 0x2002, SubIndex 0x07 current on output OUT06
0x04 PDO map- ping		rw UDDINT 0x2002 0810 Index 0x2002, SubIndex 0x08 current on output OUT07
0x1A0A 0x00 TransmitPDO map- pingNumber of mapped objects in PDO		rw USINT 0x03 mapping transmit				PDO 11 (system flag) number of integrated application objects = 4
0x01 PDO map- ping		rw UDDINT 0x2040 0110 Index 0x2040, SubIndex 0x01 supply voltage of the system VBB5
0x02 PDO map- ping		rw UDDINT 0x2041 0110 Index 0x2041, SubIndex 0x01 output supply voltage VBB2
0x03 PDO map- ping		rw UDDINT 0x2050 0010 Index 0x2050, SubIndex 0x00 system temperature in °C

Manufacturer-specific objekts (index 0x2000...0x6FFF):

Index S-index Design Data type Default Details
0x2000	0x00 IO	configuration	ro USINT 16 Configuration inputs		outputs largest supported Sub-index = 32
		Largest sub-index supported
	0x01 Configuration IN00	rw USINT 10 0 = 0x00			3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C14 = 0x0E20 = 0x14	off Input IN000...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched frequency0...30 000 Hz period duration as ratio 0...1 000 %
	0x02 Configuration IN01	rw USINT 10 0 = 0x00			3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C14 = 0x0E20 = 0x14	off Input IN010...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched frequency0...30 000 Hz period duration as ratio 0...1 000 %
	0x03 Configuration IN02	rw USINT 10 0 = 0x00			3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C14 = 0x0E20 = 0x14	off Input IN020...10 000 mV ratiometric 0...1000 %0...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched frequency0...30 000 Hz period duration as ratio 0...1 000 %
Index S-index Design Data type Default Details
0x2000 0x04 Configuration IN03	rw USINT 10 0 = 0x00	3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C14 = 0x0E20 = 0x14	off Input IN030...10 000 mVratiometric 0...1000 %0...20 000 μAB0...32 000 mVbinary plus switched binary plus switched with diagnosis binary minus switched frequency0...30 000 Hzperiod duration as ratio 0...1 000 %。
0x05 Configuration IN04	rw USINT 10 0 = 0x00	10 = 0x0A11 = 0x0B18 = 0x12	off Input IN04binary plus switched binary plus switched with diagnosis16...30 000 Ohm
0x06 Configuration IN05	rw USINT 10 0 = 0x00	10 = 0x0A11 = 0x0B18 = 0x12	off Input IN05binary plus switched binary plus switched with diagnosis16...30 000 Ohm
0x07 Configuration IN06	rw USINT 10 0 = 0x00	10 = 0x0A11 = 0x0B18 = 0x12	off Input IN06binary plus switched binary plus switched with diagnosis16...30 000 Ohm
0x08 Configuration IN07	rw USINT 10 0 = 0x00	10 = 0x0A11 = 0x0B18 = 0x12	off Input IN07binary plus switched binary plus switched with diagnosis16...30 000 Ohm
0x09 Configuration OUT00	rw USINT 2 0 = 0x00	2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Output OUT00binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

Index S-index Design Data type Default Details
0x2000	0x0A Configuration OUT01	rw USINT 2 0 = 0x00		2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT01 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x0B Configuration OUT02		rw USINT 2 0 = 0x00		2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT02 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x0C Configuration OUT03		rw USINT 2 0 = 0x00		2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT03 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x0D Configuration OUT04		rw USINT 2 0 = 0x00		2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT04 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x0E Configuration OUT05		rw USINT 2 0 = 0x00		2 = 0x024 = 0x045 = 0x0515 = 0xF16 = 0x10	off Output OUT05 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
Index S-index Designation Data type		pe Default Details
0x2000	0x0F Configuration OUT06	rw USINT 2 0 = 0x00		2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Output OUT06 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
	0x10 Configuration OUT07	rw USINT 2 0 = 0x00		2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Output OUT07 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection
0x2001	0x00 PWM fre-quency	ro USINT 8 Largest sub-index supported
	0x01 PWM frequency OUT00	rw USINT 100 20...250 OUT00 PWM frequen-			cy [Hz]
	0x02 PWM frequency OUT01	rw USINT 100 20...250 OUT01 PWM frequen-			cy [Hz]
	0x03 PWM frequency OUT02	rw USINT 100 20...250 OUT02 PWM frequen-			cy [Hz]
	0x04 PWM frequency OUT03	rw USINT 100 20...250 OUT03 PWM frequen-			cy [Hz]
	0x5 PWM frequency OUT04	rw USINT 100 20...250 OUT04 PWM frequen-			cy [Hz]
	0x6 PWM frequency OUT05	rw USINT 100 20...250 OUT05 PWM frequen-			cy [Hz]
	0x7 PWM frequency OUT06	rw USINT 100 20...250 OUT06 PWM frequen-			cy [Hz]
	0x8 PWM frequency OUT07	rw USINT 100 20...250 OUT07 PWM frequen-			cy [Hz]

Index S-index Design Data type Default Details
0x2002 0x00 Current value ro USINT 8 Largest sub-index supported
0x01 Current value OUT00	ro UINT 0 20...4000 OUT00 output current					[mA]
0x02 Current value OUT01	ro UINT 0 20...4000 OUT01 output current					[mA]
0x03 Current value OUT02	ro UINT 0 20...4000 OUT02 output current					[mA]
0x04 Current value OUT03	ro UINT 0 20...4000 OUT03 output current					[mA]
0x05 Current value OUT04	ro UINT 0 20...2500 OUT04 output current					[mA]
0x06 Current value OUT05	ro UINT 0 20...2500 OUT05 output current					[mA]
0x07 Current value OUT06	ro UINT 0 20...2500 OUT06 output current					[mA]
0x08 Current value OUT07	ro UINT 0 20...2500 OUT07 output current					[mA]
0x00 P-value ro USINT 8 Largest sub-index supported
0x01 P-value OUT00	rw USINT 30 0..255 OUT00 P-value for					current control
0x02 P-value OUT01	rw USINT 30 0..255 OUT01 P-value for					current control
0x03 P-value OUT02	rw USINT 30 0..255 OUT02 P-value for					current control
0x04 P-value OUT03	rw USINT 30 0..255 OUT03 P-value for					current control
0x05 P-value OUT04	rw USINT 30 0..255 OUT04 P-value for					current control
0x06 P-value OUT05	rw USINT 30 0..255 OUT05 P-value for					current control
0x07 P-value OUT06	rw USINT 30 0..255 OUT06 P-value for					current control
0x08 P-value OUT07	rw USINT 30 0..255 OUT07 P-value for					current control

UK

Index S-index Design Data type Default Details
0x2005 0x00 I-value ro USINT 8 L largest sub-index supported
	0x01 I-value OUT00	rw USINT 20 0...	255 OUT00 I-value for	current control
	0x02 I-value OUT01	rw USINT 20 0...	255 OUT01 I-value for	current control
	0x03 I-value OUT02	rw USINT 20 0...	255 OUT02 I-value for	current control
	0x04 I-value OUT03	rw USINT 20 0...	255 OUT03 I-value for	current control
	0x05 I-value OUT04	rw USINT 20 0...	255 OUT04 I-value for	current control
	0x06 I-value OUT05	rw USINT 20 0...	255 OUT05 I-value for	current control
	0x07 I-value OUT06	rw USINT 20 0...	255 OUT06 I-value for	current control
	0x08 I-value OUT07	rw USINT 20 0...	255 OUT07 I-value for	current control
0x2006 0x00 PWM dither frequency		ro USINT 8 Largest sub-index supported
	0x01 PWM dither frequency OUT00	rw USINT 0 0...PWM-	freq / 2	OUT00 PWM dither frequency [Hz]
	0x02 PWM dither frequency OUT01	rw USINT 0 0...PWM-	freq / 2	OUT01 PWM dither frequency [Hz]
	0x03 PWM dither frequency OUT02	rw USINT 0 0...PWM-	freq / 2	OUT02 PWM dither frequency [Hz]
	0x04 PWM dither frequency OUT03	rw USINT 0 0...PWM-	freq / 2	OUT03 PWM dither frequency [Hz]
	0x05 PWM dither frequency OUT04	rw USINT 0 0...PWM-	freq / 2	OUT04 PWM dither frequency [Hz]
	0x06 PWM dither frequency OUT05	rw USINT 0 0...PWM-	freq / 2	OUT05 PWM dither frequency [Hz]
	0x07 PWM dither frequency OUT06	rw USINT 0 0...PWM-	freq / 2	OUT06 PWM dither frequency [Hz]
	0x08 PWM dither frequency OUT07	rw USINT 0 0...PWM-	freq / 2	OUT07 PWM dither frequency [Hz]

Index S-index Design Data type		Default Details
0x2007	0x00 PWM dither value	ro USINT 8 Largest sub-index supported
	0x01 PWM dither value OUT00	rw USINT 0 0...1 000 OUT00 PWM dither				value [%0]
	0x02 PWM dither value OUT01	rw USINT 0 0...1 000 OUT01 PWM dither				value [%0]
	0x03 PWM dither value OUT02	rw USINT 0 0...1 000 OUT02 PWM dither				value [%0]
	0x04 PWM dither value OUT03	rw USINT 0 0...1 000 OUT03 PWM dither				value [%0]
	0x05 PWM dither value OUT04	rw USINT 0 0...1 000 OUT04 PWM dither				value [%0]
	0x06 PWM dither value OUT05	rw USINT 0 0...1 000 OUT05 PWM dither				value [%0]
	0x07 PWM dither value OUT06	rw USINT 0 0...1 000 OUT06 PWM dither				value [%0]
	0x08 PWM dither value OUT07	rw USINT 0 0...1 000 OUT07 PWM dither				value [%0]
0x2012	0x00 Period input ro USINT 4 Largest sub-index supported
	0x01 Period durati-on IN00	ro USDINT 0 IN00 period duration [μs]
	0x02 Period durati-on IN01	ro USDINT 0 IN01 period duration [μs]
	0x03 Period durati-on IN04	ro USDINT 0 IN04 period duration [μs]
	0x04 Period durati-on IN05	ro USDINT 0 IN05 period duration [μs]
0x2013	0x00 Period input number of periods for average	ro USINT 4 Largest sub-index supported
	0x01 Number of periods IN00	rw USINT 4 1...255 IN00 number of				periods
	0x02 Number of periods IN01	rw USINT 4 1...255 IN01 number of				periods
	0x03 Number of periods IN02	rw USINT 4 1...255 IN02 number of				periods
	0x04 Number of periods IN03	rw USINT 4 1...255 IN03 number of				periods

UK

Index S-index Design Data type Default Details
0x2014 0x00 Period input - ratio value	ro USINT 4 Largest Sub-index supported
0x01 Period ratio value IN00	ro UINT 0 0...1 000 IN00 marc-to-space				ratio [%]
0x02 Period ratio value IN01	ro UINT 0 0...1 000 IN01 marc-to-space				ratio [%]
0x03 Period ratio value IN02	ro UINT 0 0...1 000 IN02 marc-to-space				ratio [%]
0x04 Period ratio value IN03	ro UINT 0 0...1 000 IN03 marc-to-space				ratio [%]
0x2015 0x00 Frequency input	ro USINT 4 Largest Sub-index supported
0x01 Frequency IN00	ro REAL 1 0...30 000 IN00 frequency [Hz]
0x02 Frequency IN01	ro REAL 1 0...30 000 IN01 frequency [Hz]
0x03 Frequency IN02	ro REAL 1 0...30 000 IN02 frequency [Hz]
0x04 Frequency IN03	ro REAL 1 0...30 000 IN03 frequency [Hz]
0x00 Timebase ro USINT	4 Largest sub-index supported
0x01 Timebase IN00	rw	UINT 50	0...2	000 IN00 timebase [ms]
0x02 Timebase IN01	rw	UINT 50	0...2	000 IN01 timebase [ms]
0x03 Timebase IN02	rw	UINT 50	0...2	000 IN02 timebase [ms]
0x04 Timebase IN03	rw	UINT 50	0...2	000 IN03 timebase [ms]
0x00 Input - short to supply voltage	ro USINT 1 Largest Sub-index supported
0x01 Short to sup-ply voltage IN00...IN07	ro USINT 0 0 = normal			1 = short circuit	channels (bit coded)
					0b---- ---X = IN00
					0b---- ---X- = IN01
					0b---- X-- = IN02
					0b---- X--- = IN03
					0b---- X---- = IN05
					0b-X---- = IN06
					0bX---- = IN07

Index S-index Designation Data type Default Details
0x2021	0x00 Input - wire break	ro USINT 1 Largest sub-index supported
	0x01 Wire break IN00...IN07	ro USINT 0 0 = normal	1 = wire break	channels (bit coded)0b----X=IN000b----X-=IN010b----X-=IN020b----X-=IN030b----X-=IN040b----X-=IN050b-X----=IN060bX----=IN07
0x2022	0x00 Output - short circuit	ro USINT 1 Largest sub-index supported
	0x01 Short circuitOUT00...OUT07	ro USINT 0 0 = normal	1 = short circuit	channels (bit coded)0b----X=OUT000b----X-=OUT010b----X-=OUT020b----X-=OUT030b----X-=OUT040b-X----=OUT050b-X----=OUT060bX----=OUT07
0x2023	0x00 Output - open circuit	ro USINT 1 Largest sub-index supported
	0x01 Open circuitOUT00...OUT07	ro USINT 0 0 = normal	1 = open circuit	channels (bit coded)0b----X=OUT000b----X-=OUT010b----X-=OUT020b----X-=OUT030b----X-=OUT040b-X----=OUT050b-X----=OUT060bX----=OUT07
0x2024	0x00 Output - overload	ro USINT 1 Largest sub-index supported
	0x01 OverloadOUT00...OUT07	ro USINT 0 0 = normal	1 = overload	channels (bit coded)0b----X=OUT000b----X-=OUT010b----X-=OUT020b----X-=OUT030b----X-=OUT040b-X----=OUT050b-X----=OUT060bX----=OUT07

UK

Index Sidx Designation Data type		pe Default Details
0x2025 0x00 Input analog - overcurrent		ro USINT 1 Largest sub-index supported
0x01 Overcurrent IN00, IN01,IN02 und IN03		ro USINT 0 0 = normal			1 = overcur- rent	channels (bit coded) 0b---- ---X = IN00 0b---- --X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03
0x2030 0x00 Input resistor ro USINT 4 Largest sub-index supported
0x01 Resistance IN04		ro USINT 0 0...30			000 IN04 resistance	[Ohms]
0x02 Resistance IN05		ro USINT 0 0...30			000 IN05 resistance	[Ohms]
0x03 Resistance IN06		ro USINT 0 0...30			000 IN06 resistance	[Ohms]
0x04 Resistance IN07		ro USINT 0 0...30			000 IN07 resistance	[Ohms]
0x2040 0x00 System supp- ly voltage VBBBS		ro USINT 1 Largest sub-index supported
0x01 VBBS ro USINT 0		VBB$ voltage [mV]
0x2041 0x00 Output supp- ly voltage		ro USINT 1 Largest sub-index supported
0x01 VBB2 ro UINT 0 V		VBB2 voltage [mV]
0x2050 Device tem- perature		ro USINT 0 temperature [°C]
0x20F0		Node ID	rw	USINT	125	1...125 node ID [!] value(0x20F0) != value(20F1)
0x20F1		Node ID	rw	USINT	125	1...125 node ID [!] value(0x20F0) != value(20F1)
0x20F2		Baud rate	rw USINT 3 baud rate		[!] value(0x20F2) != value(20F3)
					0	1000 kBits/s
					1	800 kBits/s
					2	500 kBits/s
					3	250 kBits/s
					4	125 kBits/s
					5	100 kBits/s
					6	50 kBits/s
					7	20 kBits/s
Index S-index Design Data type Default Details
0x20F3 Baud rate	rw USINT 3 baud rate				[!] value(0x20F2) != value(20F3)
0x20F4 Autostart	rw UINT 0 not used
0x20F5 Lock edit	mode	rw USINT 0 0 = edit mode unlocked			1 = edit mode locked
0x20F6 CAN inter-face	rw USINT 1 1...2 CAN interface					[!] value(0x20F6) != value(20F7)
0x20F7 CAN inter-face	rw USINT 1 1...2 CAN interface					[!] value(0x20F6) != value(20F7)
0x6000 0x00 Binary inputLargestsub-indexsupported	ro USINT 0x02 Binary inputsIN00 - IN07	ro USINT 0 BinaIy inputs IN00...			N070b---- ---X = IN000b---- X- = IN010b---- -X- = IN020b---- X--- = IN030b---X----= IN040b--X----= IN050b-X----= IN060bX----= IN07
0x6200 0x00 Binary outputLargestsub-indexsupported	ro USINT 0x02 Binary outputsOUT00 - OUT07	wo	USINT 0 BinaIy outputs OUT		T00...OUT070b---- ---X = OUT000b---- X- = OUT010b---- -X- = OUT020b---- X--- = OUT030b----X----= OUT040b--X----= OUT050b-X----= OUT060bX----= OUT07

UK

Index S-index Design Data type Default Details
0x6404 0x00 Analogue input Largest sub-index supported		ro USINT 0x04 Analogue inputs			Largest supported sub-index = 4
0x01 Analogue input IN00		ro INT -- Analogue value of input IN00
0x02 Analogue input IN01		ro INT -- Analogue value of input IN01
0x03 Analogue input IN02		ro INT -- Analogue value of input IN02
0x04 Analogue input IN03		ro INT -- Analogue value of input IN03
0x6414 0x00 PWM output Largest sub-index supported		ro USINT 0x08 PWM outputs			Largest supported sub-index = 12
0x01 PWM output OUT00		wo INT -- Value for PWM output OUT00
0x02 PWM output OUT01		wo INT -- Value for PWM output OUT01
0x03 PWM output OUT02		wo INT -- Value for PWM output OUT02
0x04 PWM output OUT03		wo INT -- Value for PWM output OUT03
0x05 PWM output OUT04		wo INT -- Value for PWM output OUT04
0x06 PWM output OUT05		wo INT -- Value for PWM output OUT05
0x07 PWM output OUT06		wo INT -- Value for PWM output OUT06
0x08 PWM output OUT07		wo INT -- Value for PWM output OUT07

12.3 SDOs error messages

12.3.1 CR2040

The following messages are created in case of an error:

Index Sidx Design Data type Default Details
0x1001 Error register ro USINT 0 Error Number of entries	register to USINT 0 Error	register bit coded to profile		301 permissible values: 0b0000 0000 = no error 0b0000 0001 = generic error 0b0001 0000 = communication error 0b1000 0000 = manufacturer specific
0x1003 x00 Predefined error field Number of entries	rw UINT 0 An error list with 4 entries is supported.
0x01 Error history ro UINT	0 Error occurred; coded according to EMCY list The last error is indicated in the sub-index 1
0x02 Error history ro UINT	0 Error occurred; coded according to EMCY list
0x03 Error history ro UINT	0 Error occurred; coded according to EMCY list
0x04 Error history ro UINT	0 Error occurred; coded according to EMCY list
0x05 Error history ro UINT	0 Error occurred; coded according to EMCY list
0x2020 x00 Input - short to supply voltage	ro USINT 2 Largest sub-index supported
0x01 Short to supply voltage IN00... IN07	ro USINT 0 0 = normal			1 = short circuit	channels (bit coded) 0b---- ---X = IN00 0b---- -X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03 0b---- X---- = IN04 0b--X---- = IN05 0b-X---- = IN06 0bx---- = IN07
0x02 Short to supply voltage IN08, IN10, IN12, IN14	ro USINT 0 0 = normal			1 = short circuit	channels (bit coded) 0b---- ---X = IN08 0b---- -X- = IN10 0b---- -X-- = IN12 0b---- X---- = IN14

Index S-index Design Data type Default Details
0x2021 0x00 Input - wire break ro USINT 2 Largest sub-b-index supported
	0x01 Wire break IN00...IN07	ro USINT 0 0 = normal	1 = wire break	channels (bit coded)0b---- ---X = IN000b---- -X- = IN010b---- -X-- = IN020b---- X--- = IN030b---- X---- = IN040b---- X- ---- = IN050b-X- ---- = IN060bX---- ---- = IN07
	0x02 Wire break IN08,IN10, IN12, IN14	ro USINT 0 0 = normal	1 = wire break	channels (bit coded)0b---- ---X = IN080b---- -X- = IN100b---- -X-- = IN120b---- X--- = IN14
0x2025 0x00 Input analog -overcurrent		ro USINT 1 Largest sub-index supported
	0x01 OvercurrentIN00...IN07	ro USINT 0 0 = normal	1 = overcurrent	channels (bit coded)0b---- ---X = IN000b---- -X- = IN010b---- -X-- = IN020b---- X--- = IN030b---- X---- = IN040b-X- ---- = IN050b-X- ---- = IN060bX---- ---- = IN07

12.3.2 CR2041

The following messages are created in case of an error:

Index S-idx Designation Data type Default Details
0x1001 Error register ro USINT 0 Error Number of entries	register bit coded to profit 301 permissible values: 0b0000 0000 = no error 0b0000 0001 = generic error 0b0001 0000 = communication error 0b1000 0000 = manufacturer specific
0x1003 0x00 Predefined error field Number of entries	rw UINT 0 Ar error list with 4 entries is supported.
0x01 Error history ro UDINT	0 Error occurred; coded according to EMCY list The last error is indicated in the sub-index 1
0x02 Error history ro UDINT	0 Error occurred; coded according to EMCY list
0x03 Error history ro UDINT	0 Error occurred; coded according to EMCY list
0x04 Error history ro UDINT	0 Error occurred; coded according to EMCY list
0x05 Error history ro UDINT	0 Error occurred; coded according to EMCY list
0x00 Output - short circuit	ro USINT 2 Largest sub-index supported
0x01 Short circuit OUT00...OUT07	ro USINT 0 0 = normal	1 = short circuit	channels (bit coded) 0b---- ---X = OUT00 0b---- ---X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---- -X---- = OUT04 0b--X- ----= OUT05 0b-X- ----= OUT06 0bX---- ----= OUT07
0x02 Short circuit OUT08...OUT15	ro USINT 0 0 = normal	1 = short circuit	channels (bit coded) 0b---- ---X = OUT08 0b---- ---X- = OUT09 0b---- -X-- = OUT10 0b---- X--- = OUT11 0b--X----= OUT12 0b--X- ----= OUT13 0b-X- ----= OUT14 0bX---- ----= OUT15

Index S-index Design Data type Default Details
0x2023 0x00 Output - open circuit		ro USINT 2 Largest sub-index supported
0x01 O	Open circuit OUT00...OUT07	ro USINT 0 = normal	1 = open circuit	channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---- X---- = OUT040b--X---- = OUT050b-X---- = OUT060bX---- = OUT07
0x02 O	Open circuit OUT08...OUT15	ro USINT 0 = normal	1 = open circuit	channels (bit coded)0b---- ---X = OUT080b---- --X- = OUT090b---- -X-- = OUT100b---- X--- = OUT110b---- X---- = OUT120b--X---- = OUT130b-X---- = OUT140bX---- = OUT15
0x2024 0x00 Output - overload ro USINT 1 Largest sub-index supported
0x01 O	Overload OUT00...OUT07	ro USINT 0 = normal	1 = overload	channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---- X---- = OUT040b--X---- = OUT050b-X---- = OUT060bX---- = OUT07

12.3.3 CR2042

The following messages are created in case of an error:

Index S-idx Designation Data type Default Details
0x1001	Error register ro USINT 0 Error reg or register bit coded to profile 301 permissible values: 0b0000 0000 = no error 0b0000 0001 = generic error 0b0001 0000 = communication error 0b1000 0000 = manufacturer specific
0x1003	0x00 Predefined error field Number of entries	rw UDINT 0 An error list with 4 entries is supported.
	0x01 Error history ro UDINT	0 Error occurred; coded according to EMCY list The last error is indicated in the sub-index 1
	0x02 Error history ro UDINT	0 Error occurred; coded according to EMCY list
	0x03 Error history ro UDINT	0 Error occurred; coded according to EMCY list
	0x04 Error history ro UDINT	0 Error occurred; coded according to EMCY list
	0x05 Error history ro UDINT	0 Error occurred; coded according to EMCY list
0x2020	0x00 Input - short to supply voltage	ro USINT 1 Largest sub-index supported
	0x01 Short to supply voltage IN00...IN07	ro USINT 0 0 = normal	1 = short circuit	channels (bit coded) 0b---- ---X = IN00 0b---- -X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03 0b---- X---- = IN04 0b--X-----= IN05 0b-X-----= IN06 0bx------= IN07
0x2021	0x00 Input - wire break ro USINT 1 Largest sub-index supported
	0x01 Wire break IN00... IN07	ro USINT 0 0 = normal	1 = wire break	channels (bit coded) 0b---- ---X = IN00 0b---- -X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03 0b---- X----= IN04 0b--X-----= IN05 0b-X-----= IN06 0bx------= IN07

Index S-index Design Data type Default Details
0x2022 0x00 Output - short circuit		ro USINT 1 Largest sub-index supported
0x01 Short circuit OUT00...OUT07		ro USINT 0 = normal	1 = short circuit	channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---- X---- = OUT040b----X- ----= OUT050b-X- ----= OUT060bX---- ----= OUT07
0x2023 0x00 Output - open circuit		ro USINT 1 Largest sub-index supported
0x01 Open circuit OUT00...OUT07		ro USINT 0 = normal	1 = open circuit	channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---- X---- = OUT040b----X- ----= OUT050b-X- ----= OUT060bX---- ----= OUT07
0x2024 0x00 Output - overload ro USINT 1 Largest sub-index supported
0x01 Overload OUT00...OUT07		ro USINT 0 = normal	1 = overload	channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b----X- ----= OUT040b----X- ----= OUT050b-X- ----= OUT060bX---- ----= OUT07
0x2025 0x00 Input analog - overcurrent		ro USINT 1 Largest sub-index supported
0x01 Overcurrent IN00, IN01, IN02 und IN03		ro USINT 0 = normal	1 = overcurrent	channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN03