CR2052 - Industrial controller IFM - Free user manual and instructions

USER MANUAL CR2052 IFM

Top-down schematic of a mobile phone rear panel with eight square-shaped connectors (no text or symbols)

Contenu

Four technical diagrams showing mechanical assembly or cross-sections with hatched areas and diagonal lines, no text or symbols present.

Surface de montage

Technical diagram showing mechanical assembly with directional arrows and component layout (no text or labels)

Pure mechanical diagram showing a vertical component with diagonal lines and directional arrows, no text or symbols present.

Technical diagram of a device rear panel with numbered components for identification

Zone de raccordement

Technical diagram of a device rear panel with numbered ports and an exploded view showing internal components and labeled parts.

Technical diagram of a device component with numbered parts labeled 1, 2, and 3

1:LED IN15
2:LED IN07
3:LED IN13
4:LED IN05
5:LED IN11
6:LED IN03
7: LED IN09
8: LED IN01
9: LED IN08
10:LED IN00
11: LED IN10
12: LED IN02
13:LED IN12
14:LED IN04
15: LED IN14
16:LED IN06

Diagram of a device rear panel with numbered labels pointing to various electronic components and connectors.

Dimensions (H x L x P) 234 x 76 x 40,5 m

Profi I de communication

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)

Affi chage

Diagram of a device rear panel with numbered labels pointing to various electronic components and switches.

1:LED OUT07
2:LED OUT03
3: LED OUT06
4:LED OUT02
5:LED OUT05
6:LED OUT01
7:LED OUT04
8:LED OUT00
9:LED IN04
10:LED IN00
11:LED IN05
12: LED IN01
13:LED IN06
14:LED IN02
15:LED IN07
16:LED IN03

Diagram of a device rear panel with numbered labels pointing to various electronic components and connectors.

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

EMCY code Error reg Additional 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 index 0x1003 Subldx 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 index 0x1003 Subldx 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 CR2051, CR2052)
0x90xx 0x01 0x00 "Frequency input, Frequency too low""xx"" means number of the IO-channel (00 ... 15)"
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-channelCR2050 (00 ... 15) + 16; CR2052 (00 ... 07) + 8"
0x21xx 0x03 0x00 "Inputs, Overcurrent""xx"" means number of the IO-channelCR2050 (00 ... 15) + 32; CR2052 (00 ... 07) + 16"
0x23xx 0x03 0x00 "outputs, Openline""xx"" means number of the IO-channelCR2051 (00 ... 15); CR2052 (00 ... 07)"
0x23xx 0x03 0x00 "outputs, Short circuit""xx"" means number of the IO-channelCR2051 (00 ... 15) + 16; CR2052 (00 ... 07) + 8"
0x23xx 0x03 0x00 "outputs, Overload""xx"" means number of the IO-channelCR2051 (00 ... 15) + 32; CR2052 (00 ... 07) + 16"

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

12.2 Object directory CR205x

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

Index S-idx Designation Data type Default Details (CR205x)
0x1000 Device type ro UDINT 0x000F0191 Device type
0x1001 Error register ro USINT 0 Error register bitcoded to profile						301Permissible values:0b0000 0000 = no error0b0000 0001 = generic error0b0001 0000 = communication error0b1000 0000 = manufacturer specific
0x1018 0x00 Device identification Number of entries			ro USINT 0x04		Device identification
0x1003 0x00 Predefined error field Number of entries			rw	UDINT 0 An error list with 4 entries is supported
0x1005	COB-ID	synchmessage	rw U	DINT 0x000	0 0080 Identifier of	the synch messageBit 30 = 0 device generates nosynch messageBit 30 = 1 device generates asynch messageBit 29 = 0 11 bit IDBit 29 = 1 ID = 0x80 + node ID
0x1006	Communi-cation cycleperiod	rw U	DINT 0 Max.	time between 2 s	synch objectsin [μs]Control resolution = 1 ms
0x1008	Manufacturerdevice name	ro STRING CR205x Device designation (CR2050 orCR2051 or CR2052)
0x1009	Manufacturerhardwareversion	ro STRING V00.00.00 Hardware version
0x100A	Manufacturersoftwareversion	ro STRING V00.00.00 Software version
0x1010	0x00	Store para-metersLargestsub-indexsupported	ro USINT 0x01	Number of “save options”
	0x01	Save allparameters	rw U	DINT 2 Automatic saving of all parameterschanged0 = AutoSave OFF2 = AutoSave ON
0x1011	0x00	RestoredefaultparametersLargestsub-indexsupported	ro USINT 0x01	Number of "restore options"
	0x01	Restoreall defaultparameters	rw U	DINT 0x01	If the String "load" is entered here,the default parameters set at thefactory are restored and becomevalid after the next reset.
0x1014	COBldEmergency	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 bythe user.
0x1016 0x00 Con	sumer heartbeat times Nums consumer heartbeat time	ro USINT 0x01 Heartbeat monitoring time for the node Number of devices monitored = 1
	0x01 Consumer heartbeat time	rw U DINT 0 Heartbeat monitoring time for the node Format: 0x0nntttt tttt = monitoring time [ms] nn = node number if nn=0 or tttt=0 → no monitoring
0x1017 Producer	heartbeat time	rw UI NT 0 Time interval [ms] during which the device generates a producer heartbeat

UK

12.2.1 Device-specific CR2050

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

Index S-idx Designation Data type Default Details (CR2050)
0x1800 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 1number of entries = 5
	0x01 COBID usedby PDO	rw U	DINT 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 acyclic	0x01...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 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 U DINT 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/0xFD 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 timewrUINT 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 U DINT 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 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 timewrUINT 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 (CR2050)
0x1803 0x00 TransmitPDO Com-municationParameterNumber ofentries			ro USINT 0x05 Configuration transmit PDO 4number of entries = 5
0x01 COBID usedby PDO			rw UDINT 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 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 accrued.
Index S-idx Designation Data type Default Details (CR2050)
0x1804 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 5number of entries = 5
	0x01 COBID usedby PDO	rw U DINT 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/0xFD 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 timewrUINT 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 UDINT 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/0xFD 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 timewrUINT 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.
0x1806 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 7number of entries = 5
	0x01 COBID usedby PDO	rw U	DINT 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 acyclic	0x01...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 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 timewUINT 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.
0x1807 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 8number of entries = 5
	0x01 COBID usedby PDO	rw U DINT 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/0xFD 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 timewrUINT 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 U DINT 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/0xFD 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 timewrUINT 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 U DINT 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/0xFD 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 timewUINT 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-idx Designation Data type Default Details (CR2050)
0x1A00	0x00 Transmit	rw U	SINT 0x07	mapping transmit	PDO 1number of integrated application objects = 7
		PDO mappingNumber of mapped objects in PDO
	0x01 P	DO mapping	rw U	DINT 0x600	0 0108 Index 0x6000, SubIndex 0x01binary inputs 00...07: actual values (bit coded)
	0x02 P	DO mapping	rw U	DINT 0x600	0 0208 Index 0x6000, SubIndex 0x02binary inputs 08...15: actual values (bit coded)
	0x03 P	DO mapping	rw U	DINT 0x202	0 0108 Index 0x2020, SubIndex 0x01binary inputs 00...07: flag "short circuit" (bit coded)
	0x04 P	DO mapping	rw U	DINT 0x202	0 0208 Index 0x2020, SubIndex 0x02binary inputs 08...15: flag "short circuit" (bit coded)
	0x05 P	DO mapping	rw U	DINT 0x202	1 0108 Index 0x2021, SubIndex 0x01outputs 00...07: flag " wire break " (bit coded)
	0x06 P	DO mapping	rw U	DINT 0x202	1 0208 Index 0x2021, SubIndex 0x02outputs 08...15: flag " wire break " (bit coded)
	0x07 P	DO mapping	rw U	DINT 0x202	5 0108 Index 0x2025, SubIndex 0x01inputs 00...03: flag " overload " (bit coded)
Index S-idx Designation Data type Default Details (CR2050)
0x1A01	0x00 Transmit	PDO mappingNumber ofmappedobjects inPDO	rw USINT 0x04	mapping transmit	PDO 2 (analogueinputs)number of integrated applicationobjects = 4
	0x01 PDO mapping	RW U	DINT 0x640	4 0110 Index 0x6404, SubIndex 0x01 analogue input 00: actual value(depending on the configuration0x2000)
	0x02 PDO mapping	RW U	DINT 0x640	4 0210 Index 0x6404, SubIndex 0x02 analogue input 01: actual value(depending on the configuration0x2000))
	0x03 PDO mapping	RW U	DINT 0x640	4 0310 Index 0x6404, SubIndex 0x03 analogue input 02: actual value(depending on the configuration0x2000)
	0x04 PDO mapping	RW U	DINT 0x640	4 0410 Index 0x6404, SubIndex 0x04 analogue input 03: actual value(depending on the configuration0x2000)
0x1A02	0x00 Transmit	PDO mappingNumber ofmappedobjects inPDO	rw USINT 0x04	mapping transmit	PDO 3 (analogueinputs)number of integrated applicationobjects = 4
	0x01 PDO mapping	RW U	DINT 0x640	4 0510 Index 0x6404, SubIndex 0x05 analogue input 04: actual value(depending on the configuration0x2000)
	0x02 PDO mapping	RW U	DINT 0x640	4 0610 Index 0x6404, SubIndex 0x06 analogue input 05: actual value(depending on the configuration0x2000))
	0x03 PDO mapping	RW U	DINT 0x640	4 0710 Index 0x6404, SubIndex 0x07 analogue input 06: actual value(depending on the configuration0x2000)
	0x04 PDO mapping	RW U	DINT 0x640	4 0810 Index 0x6404, SubIndex 0x08 analogue input 07: actual value(depending on the configuration0x2000)

Index S-idx Designation Data type Default Details (CR2050)
0x1A03	0x00 TransmitPDO mappingNumber ofmappedobjects inPDO		rw USINT 0x04 mapping transmit			PDO 4number of integrated applicationobjects = 4
	0x01 PDO mapping		rw UDINT 0x2030 0110 Index 0x2030, SubIndex 0x01input 08: actual resistor value
	0x02 PDO mapping		rw UDINT 0x2030 0210 Index 0x2030, SubIndex 0x02input 10: actual resistor value
	0x03 PDO mapping		rw UDINT 0x2030 0310 Index 0x2030, SubIndex 0x03input 12: actual resistor value
	0x04 PDO mapping		rw UDINT 0x2030 0410 Index 0x2030, SubIndex 0x04input 14: actual resistor value
0x1A04	0x00 TransmitPDO mappingNumber ofmappedobjects inPDO		rw USINT 0x02 mapping transmit			PDO 5 (periodetime IN09, IN11)number of integrated applicationobjects = 2
	0x01 PDO mapping		rw UDINT 0x2012 0120 Index 0x2012, SubIndex 0x01frequency input IN09: periode time ofthe signal
	0x02 PDO mapping		rw UDINT 0x2012 0220 Index 0x2012, SubIndex 0x02frequency input IN11: periode time ofthe signal
0x1A05	0x00 TransmitPDO mappingNumber ofmappedobjects inPDO		rw USINT 0x02 mapping transmit			PDO 6 (periodetime IN13, IN15)number of integrated applicationobjects = 2
	0x01 PDO mapping		rw UDINT 0x2012 0320 Index 0x2012, SubIndex 0x03frequency input IN13: periode time ofthe signal
	0x02 PDO mapping		rw UDINT 0x2012 0420 Index 0x2012, SubIndex 0x04frequency input IN15: periode time ofthe signal

Index S-idx Designation Data type Default Details (CR2050)
0x1A06	0x00 Transmit	PDO mappingNumber ofmappedobjects inPDO	rw USINT 0x04	mapping transmit	PDO 7 (duty cycleof the signal on the frequency inputIN09, IN11, IN13, IN15)number of integrated applicationobjects = 4
	0x01 P	DO mapping	rw UDINT 0x201	4 0110 Index 0x2	2014, SubIndex 0x01frequency input IN09: duty cycle ofthe signal in %o
	0x02 P	DO mapping	rw UDINT 0x201	4 0210 Index 0x2	2014, SubIndex 0x02frequency input IN11: duty cycle ofthe signal in %o
	0x03 P	DO mapping	rw UDINT 0x201	4 0310 Index 0x2	2014, SubIndex 0x03frequency input IN13: duty cycle ofthe signal in %o
	0x04 P	DO mapping	rw UDINT 0x201	4 0410 Index 0x2	2014, SubIndex 0x04frequency input IN15: duty cycle ofthe signal in %o
0x1A07	0x00 Transmit	PDO mappingNumber ofmappedobjects inPDO	rw USINT 0x02	mapping transmit	PDO 8 (frequencyon IN09, IN11)number of integrated applicationobjects = 2
	0x01 P	DO mapping	rw UDINT 0x201	5 0120 Index 0x2	2015, SubIndex 0x01frequency input IN09: frequencyvalue of the signal in Hz
	0x02 P	DO mapping	rw UDINT 0x201	5 0220 Index 0x2	2015, SubIndex 0x02frequency input IN11: frequency valueof the signal in Hz
0x1A08	0x00 Transmit	PDO mappingNumber ofmappedobjects inPDO	rw USINT 0x02	mapping transmit	PDO 9 (frequencyon IN13, IN15)number of integrated applicationobjects = 2
	0x01 P	DO mapping	rw UDINT 0x201	5 0320 Index 0x2	2015, SubIndex 0x03frequency input IN13: frequencyvalue of the signal in Hz
	0x02 P	DO mapping	rw UDINT 0x201	5 0420 Index 0x2	2015, SubIndex 0x04frequency input IN15: frequencyvalue of the signal in Hz

Index S-idx Designation Data type Default Details (CR2050)
0x1A09	0x00 Transmit	rw U	SINT 0x02	mapping transmit	PDO 10 (system flag)number of integrated application objects = 2
		PDO map-pingNumber of mapped objects in PDO
	0x01 P	DO map-ping	rw U	DINT 0x204	0 0110 Index 0x2	2040, SubIndex 0x01supply voltage of the system VBBS
	0x02 P	DO map-ping	rw U	DINT 0x205	0 0010 Index 0x2	2050, SubIndex 0x00system temperature in °C

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

Index S-idx Designation Data type Default Details (CR2050)
0x2000 0x00 IO configurationLargestsub-indexsupported	ro USINT 16 Configuration inputs				/outputslargest supported Sub-index = 32
	0x01 ConfigurationIN00	rw USINT 10 0 = 0x00			3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C	off Input IN000...10 000 mVratiometric 0...1000 %o0...20 000 μA0...32 000 mVbinary plus switchedbinary plus switchedwith diagnosisbinary minus switched
	0x02 ConfigurationIN01	rw USINT 10 0 = 0x00			3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C	off Input IN010...10 000 mVratiometric 0...1000 %o0...20 000 μA0...32 000 mVbinary plus switchedbinary plus switchedwith diagnosisbinary minus switched
	0x03 ConfigurationIN02	rw USINT 10 0 = 0x00			3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C	off Input IN020...10 000 mVratiometric 0...1000 %o0...20 000 μA0...32 000 mVbinary plus switchedbinary plus switchedwith diagnosisbinary minus switched

Index S-idx Designation Data type Default Details (CR2050)
0x2000 0x04 Configuration IN03	rw USINT 10 0 = 0x00			3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C	off Input IN030...10 000 mVratiometric 0...1000 %o0...20 000 μA0...32 000 mVbinary plus switchedbinary plus switchedwith diagnosisbinary minus switched

Index S-idx Designation Data type Default Details (CR2050)
0x2000 0x0A Configuration IN09		rw USINT 01 0 =		0x00	01 = 0x0114 = 0x0E20 = 0x14	off Input IN09binary plus switched frequency0...30 000 Hzperiod duration
0x2013 0x00 Period input number of periods for average			ro USINT 4 Largest sub-index supported
0x01 Number of periods IN09			rw USINT 4 1...255 IN09 number of			periods
0x02 Number of periods IN11			rw USINT 4 1...255 IN11 number of			periods
0x03 Number of periods IN13			rw USINT 4 1...255 IN13 number of			periods
0x04 Number of periods 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 UI NT 0 0...1 000 IN09 marc-to-space			ratio [%]
0x02 Period ratio value IN11			ro UI NT 0 0...1 000 IN11 marc-to-space			ratio [%]
0x03 Period ratio value IN13			ro UI NT 0 0...1 000 IN13 marc-to-space			ratio [%]
0x04 Period ratio value IN15			ro UI NT 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

Index S-idx Designation Data type Default Details (CR2050)
0x2020 0x00 Input – short to supply voltage			ro USINT 2 Largest sub-index supported
							channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
	channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
	channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
	channels (bit coded)0b---- ---x = IN000b---- --x- = IN010b---- -x-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---X---- = INO40b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
	channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -x-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = INO50b-X--- ---- = IN060bX--- ---- = IN07
	channels (bit coded)0b---- ---X = IN000b---- --x- = IN010b---- -x-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = IN050b-X--- ---- = IN060bX--- ---- = IN07
	channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b---X---- = IN040b--X- ---- = INO50b-X--- ---- = IN060bX--- ---- = IN07

Index S-idx Designation Data type Default Details (CR2050)
0x2030 0x00 Input resistor ro USINT 4 Largest sub-index supported
0x2040 0x00 System supply voltage VBBS			ro USINT 1 Largest sub-index supported
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 kBit/s
						1	800 kBit/s
						2	500 kBit/s
						3	250 kBit/s
						4	125 kBit/s
						5	100 kBit/s
						6	50 kBit/s
						7	20 kBit/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-idx Designation Data type Default Details (CR2050)
0x6000 0x00 Binary inputLargest sub-index supported			ro USINT 0x02 Binary inputs		Largest supported sub-index = 2

12.2.2 Device-specific CR2051

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

Index S-idx Designation Data type Default Details (CR2051)
0x1400 0x00 Receive PDOCommunication Parameter Number of entries	ro USINT 0x02Receive PDO 1: binary outputs 0 - 15number of entries = 2
	0x01 COBID used by PDO	rw UDINT 0x200+ node ID			CAN ID of the first read PDOBit 31 = 0 → PDO is validBit 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 objectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event; outputs are updated immediately0xFF = asynch device profile event; outputs are updated immediately
0x1401 0x00 Receive PDOCommunication Parameter Number of entries	ro USINT 0x02Receive PDO 2: PWM outputs 0 - 3number of entries = 2
	0x01 COBID used by PDO	rw UDINT 0x300+ node ID			CAN ID of the second read PDOBit 31 = 0 → PDO is validBit 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 objectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event; outputs are updated immediately0xFF = asynch device profile event; outputs are updated immediately

Index S-idx Designation Data type Default Details (CR2051)
0x1402	0x00 Receive PDO Communication Parameter Number of entries	ro USINT 0x02	Receive PDO 3: PWM outputs 4 - 7 number of entries = 2
	0x01 COBID used by PDO	rw U	DINT 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
0x1403	0x00 Receive PDO Communication Parameter Number of entries	ro USINT 0x02	Receive PDO 4: PWM outputs 8 - 11 number of entries = 2
	0x01 COBID used by PDO	rw U	DINT 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

Index S-idx Designation Data type Default Details (CR2051)
0x1404 0x00 Receive PDO Communication Parameter Number of entries			ro USINT 0x02 R		Receive PDO 5: PWM outputs 12 - 15 number of entries = 2
			rw U	DINT 0x201	+ node ID	CAN-ID of the 3. read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
			rw USINT 0x01 0x00 = synch acyclic

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

Index S-idx Designation Data type Default Details (CR2051)
0x1600 0x00 Receive PDO mapping Number of mapped objects in PDO	rw U	SINT 0x02	Mapping read PDO	DO 1: binary outputs number of integrated application objects = 2
	ro UDINT 0x6200 0108 1 byte in index 0x6200, SubIndex 01 Binary outputs OUT00...OUT07 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X---- = OUT03 0b----X ---- = OUT04 0b--X- ---- = OUT05 0b-X-- ---- = OUT06 0bX---- ---- = OUT07
	ro UDINT 0x6200 0208 1 byte in index 0x6200, SubIndex 02 Binary outputs OUT08...OUT15 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-idx Designation Data type Default Details (CR2051)
0x1601	0x00 Receive PDO mapping Number of mapped objects in PDO	rw U	SINT 0x04	Mapping read PDO	DO 2: PWM outputs OUT00...OUT03 number of integrated application objects = 4
	0x01 PDO mapping	rw U	DINT 0x641	4 0110 PWM/current	current output OUT00 Index 0x6414, SubIndex 0x01 contains the preset value of the PWM output OUT00, the value is interpreted as duty cycle in ‰ 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 ‰ 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 ‰ 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 ‰ or as target current value (depending on the configuration index 0x2000)
0x1602	0x00 "Receive PDO mapping Number of mapped objects in PDO"		rw U	SINT 0x04	Mapping read PDO	DO 3:PWM outputs OUT04...OUT07number of integrated applicationobjects = 4
	0x01 P	DO mapping	rw U	DINT 0x641	4 0510 PWM/ current	current output OUT04Index 0x6414, SubIndex 0x05contains the preset value of thePWM output OUT04, the value isinterpreted as duty cycle in ‰ or astarget current value (depending onthe configuration index 0x2000)
	0x02 P	DO mapping	rw U	DINT 0x641	4 0610 PWM/ current	current output OUT05Index 0x6414, SubIndex 0x06contains the preset value of thePWM output OUT05, the value isinterpreted as duty cycle in ‰ or astarget current value (depending onthe configuration index 0x2000)
	0x03 P	DO mapping	rw U	DINT 0x641	4 0710 PWM/ current	current output OUT06Index 0x6414, SubIndex 0x07contains the preset value of thePWM output OUT06, the value isinterpreted as duty cycle in ‰ or astarget current value (depending onthe configuration index 0x2000)
	0x04 P	DO mapping	rw U	DINT 0x641	4 0810 PWM/ current	current output OUT07Index 0x6414, SubIndex 0x08contains the preset value of thePWM output OUT07, the value isinterpreted as duty cycle in ‰ or astarget current value (depending onthe configuration index 0x2000)
0x1603	0x00 Receive PDO mapping Number of mapped objects in PDO		rw U	SINT 0x04	Mapping read PDO	DO 4:PWM outputs OUT08...OUT11 number of integrated application objects = 4
	0x01 PDO mapping		rw U	DINT 0x641	4 0910 PWM/ current output OUT08Index 0x6414, SubIndex 0x09 contains the preset value of the PWM output OUT08, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x02 PDO mapping		rw U	DINT 0x641	4 0A10 PWM/ current output OUT09Index 0x6414, SubIndex 0x0A contains the preset value of the PWM output OUT09, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x03 PDO mapping		rw U	DINT 0x641	4 0B10 PWM/ current output OUT10Index 0x6414, SubIndex 0x0B contains the preset value of the PWM output OUT10, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x04 PDO mapping		rw U	DINT 0x641	4 0C10 PWM/ current output OUT11Index 0x6414, SubIndex 0x0C contains the preset value of the PWM output OUT11, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
Index S-	dx Designation Data type Default Details (CR2051)
0x1604	0x00 Receive PDO mapping Number of mapped objects in PDO		rw U	SINT 0x04	Mapping read PDO	DO 5:PWM outputs OUT12...OUT15 number of integrated application objects = 4
	0x01 P	DO map-ping	rw U	DINT 0x641	4 0D10 PWM/ current output OUT12Index 0x6414, SubIndex 0x0D contains the preset value of the PWM output OUT12, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x02 P	DO map-ping	rw U	DINT 0x641	4 0E10 PWM/ current output OUT13Index 0x6414, SubIndex 0x0E contains the preset value of the PWM output OUT13, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x03 P	DO map-ping	rw U	DINT 0x641	4 0F10 PWM/ current output OUT14Index 0x6414, SubIndex 0x0F contains the preset value of the PWM output OUT14, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x04 P	DO map-ping	rw U	DINT 0x641	4 1010 PWM/ current output OUT15Index 0x6414, SubIndex 0x10 contains the preset value of the PWM output OUT15, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

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

Index S-idx Designation Data type Default Details (CR2051)
0x1800 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 1number of entries = 5
	0x01 COBID usedby PDO	rw U	DINT 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 acyclic	0x01...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 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 timewrUINT 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 (CR2051)
0x1801 0x00 TransmitPDO Com-municationParameterNumber ofentries			ro USINT 0x05 Configuration transmit PDO 2number of entries = 5
0x01 COBID usedby PDO			rw U DINT 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/0xFD 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 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 (CR2051)
0x1802 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 3number of entries = 5
	0x01 COBID usedby PDO	rw U DINT 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 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 timewrUINT 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 (CR2051)
0x1803 0x00 TransmitPDO Com-municationParameterNumber ofentries			ro USINT 0x05 Configuration transmit PDO 4number of entries = 5
0x01 COBID usedby PDO			rw UDINT 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 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 accrued.

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

Index S-idx Designation Data type Default Details (CR2051)
0x1A00	0x00 TransmitPDO mappingNumber ofmappedobjects inPDO	rw USINT 0x04 mapping transmit				PDO 01 (outputcurrent OUT00...OUT03)number of integrated applicationobjects = 4
	0x01 PDO mapping	rw UDINT 0x2002 0110 Index 0x2002, SubIndex 0x01current on output OUT00
	0x02 PDO mapping	rw UDINT 0x2002 0210 Index 0x2002, SubIndex 0x02current on output OUT01
	0x03 PDO mapping	rw UDINT 0x2002 0310 Index 0x2002, SubIndex 0x03current on output OUT02
	0x04 PDO mapping	rw UDINT 0x2002 0410 Index 0x2002, SubIndex 0x04current on output OUT03
0x1A01	0x00 TransmitPDO mappingNumber ofmappedobjects inPDO	rw USINT 0x04 mapping transmit				PDO 02 (outputcurrent OUT04...OUT07)number of integrated applicationobjects = 4
	0x01 PDO mapping	rw UDINT 0x2002 0510 Index 0x2002, SubIndex 0x05current on output OUT04
	0x02 PDO mapping	rw UDINT 0x2002 0610 Index 0x2002, SubIndex 0x06current on output OUT05
	0x03 PDO mapping	rw UDINT 0x2002 0710 Index 0x2002, SubIndex 0x07current on output OUT06
	0x04 PDO mapping	rw UDINT 0x2002 0810 Index 0x2002, SubIndex 0x08current on output OUT07

Index S-idx Designation Data type Default Details (CR2051)
0x1A02 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO	rw U	SINT 0x05	mapping transmit	PDO 3number of integrated applicationobjects = 5
	0x01 P	DO mapping	rw U	DINT 0x2022	0108 Index 0x2022, SubIndex 0x01outputs 00...07: flag " short circuit "(bit coded)
	0x02 P	DO mapping	rw U	DINT 0x2022	0208 Index 0x2022, SubIndex 0x02outputs 08...15: flag " short circuit "(bit coded)
	0x03 P	DO mapping	rw U	DINT 0x2023	0108 Index 0x2023, SubIndex 0x01outputs 00...07: flag " wire break " (bit coded)
	0x04 P	DO mapping	rw U	DINT 0x2023	0208 Index 0x2023, SubIndex 0x02outputs 08...015: flag " wire break "(bit coded)
	0x05 P	DO mapping	rw U	DINT 0x2024	0108 Index 0x2024, SubIndex 0x01outputs 00...07: flag " overload " (bit coded)
0x1A03 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO	rw U	SINT 0x04	mapping transmit	PDO 4 (systemflag)number of integrated applicationobjects = 4
	0x01 P	DO mapping	rw U	DINT 0x2040	0110 Index 0x2040, SubIndex 0x01supply voltage of the system VBBS
	0x02 P	DO mapping	rw U	DINT 0x2041	0110 Index 0x2041, SubIndex 0x01output supply voltage VBB1
	0x03 P	DO mapping	rw U	DINT 0x2041	0210 Index 0x2041, SubIndex 0x02output supply voltage VBB2
	0x04 P	DO mapping	rw U	DINT 0x2050	0010 Index 0x2050, SubIndex 0x00system temperature in °C

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

Index S-idx Designation Data type Default Details (CR2051)
0x2000 0x00 IO configurationLargestsub-indexsupported	ro USINT 16 Configuration inputs/outputslargest supported Sub-index = 32
	0x01 ConfigurationOUT00	rw USINT 2 0 = 0x00			2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Input OUT00binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection
	0x02 ConfigurationOUT01	rw USINT 2 0 = 0x00			2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Input OUT01binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection
	0x03 ConfigurationOUT02	rw USINT 2 0 = 0x00			2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Input OUT02binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection
	0x04 ConfigurationOUT03	rw USINT 2 0 = 0x00			2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Input OUT03binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection
	0x05 ConfigurationOUT04	rw USINT 2 0 = 0x00			2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Input OUT04binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection
0x2000 0x06 Configuration OUT05		rw USINT 2 0 = 0x00			2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Input OUT05binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection
0x2000 0x0D Configuration OUT12		rw U	SINT 2 0 = 0x00		2 = 0x024 = 0x0415 = 0x0F	off Input OUT12binary plus switchedPWM outputbinary plus switchedwith diagnosis

Index S-idx Designation Data type Default Details (CR2051)
0x2001 0x09 PWM frequency OUT08		rw UI	INT 100 20..	.250 OUT08 PW	VM frequen-	cy [Hz]
							cy [Hz]
cy [Hz]
		output current [mA]
	output current [mA]

Index S-idx Designation Data type Default Details (CR2051)

0x2004 0x00 P-value ro USINT 8 Large st sub-index supported

0x2005 0x00 I-value ro USINT 8 L largest sub-index supported

Index S-idx Designation Data type Default Details (CR2051)

0x2006 0x03 PWM dither frequency OUT02

rw UI NT 0 0...PWM-

freq / 2

OUT02 PWM dither frequency [Hz]

0x04 PWM dither frequency OUT03

rw UI NT 0 0...PWM-

freq / 2

OUT03 PWM dither frequency [Hz]

0x05 PWM dither frequency OUT04

rw UI NT 0 0...PWM-

freq / 2

OUT04 PWM dither frequency [Hz]

0x06 PWM dither frequency OUT05

rw UI NT 0 0...PWM-

freq / 2

OUT05 PWM dither frequency [Hz]

0x07 PWM dither frequency OUT06

rw UI NT 0 0...PWM-

freq / 2

OUT06 PWM dither frequency [Hz]

0x08 PWM dither frequency OUT07

rw UI NT 0 0...PWM-

freq / 2

OUT07 PWM dither frequency [Hz]

0x09 PWM dither frequency OUT08

rw UI NT 0 0...PWM-

freq / 2

OUT08 PWM dither frequency [Hz]

0x0A PWM dither frequency OUT09

rw UI NT 0 0...PWM-

freq / 2

OUT09 PWM dither frequency [Hz]

0x0B PWM dither frequency OUT10

rw UI NT 0 0...PWM-

freq / 2

OUT10 PWM dither frequency [Hz]

0x0C PWM dither frequency OUT11

rw UI NT 0 0...PWM-

freq / 2

OUT11 PWM dither frequency [Hz]

0x0D PWM dither frequency OUT12

rw UI NT 0 0...PWM-

freq / 2

OUT12 PWM dither frequency [Hz]

0x0E PWM dither frequency OUT13

rw UI NT 0 0...PWM-

freq / 2

OUT13 PWM dither frequency [Hz]

0x0F PWM dither frequency OUT14

rw UI NT 0 0...PWM-

freq / 2

OUT14 PWM dither frequency [Hz]

0x10 PWM dither frequency OUT15

rw UI NT 0 0...PWM-

freq / 2

OUT15 PWM dither frequency [Hz]

Index S-idx Designation Data type Default Details (CR2051)
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 S-idx Designation Data type Default Details (CR2051)
0x2022 0x00 Output – short circuit			ro USINT 2 Largest sub-index supported
							ro USINT 0 0 = normal
							ro USINT 2 Largest sub-index supported
							ro USINT 0 0 = normal
							ro USINT 0 0 - normal
							channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b----X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07
ro USINT 0 0 = normal
channels (bit coded)0b---- ---X = OUT000b---- --Y- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b----X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07

Index S-	idx Designation Data type Default Details (CR2051)
0x2040	0x00 System voltage VBBS	tem supply voltage VBBS	ro USINT 1 Largest sub-index supported
	0x01 V	BBS ro USINT 0	VBBS voltage [mV]
0x2041	0x00 Output voltage	put supply voltage	ro USINT 2 Largest sub-index supported
	0x01 V	BB1 ro UINT 0 V	BB1 voltage [mV]
	0x02 V	BB2 ro UINT 0 V	BB2 voltage [mV]
0x2050	Device temperature	ro UI NT 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 kBit/s
						1	800 kBit/s
						2	500 kBit/s
						3	250 kBit/s
						4	125 kBit/s
						5	100 kBit/s
						6	50 kBit/s
						7	20 kBit/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
0x20F6	CAN interface	rw USINT 1 1...2 CAN interface					[!] value(0x20F6) !=value(20F7)
0x20F7	CAN interface	rw USINT 1 1...2 CAN interface					[!] value(0x20F6) !=value(20F7)

Index S-idx Designation Data type Default Details (CR2051)
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 (CR2051)
0x6414 0x00 PWM outputLargest sub-index supported	ro USINT 16 PWM outputs				Largest supported sub-index = 16
0x01 PWM output OUT00	wo UINT -- Value for PWM output OUT00
0x02 PWM output OUT01	wo UINT -- Value for PWM output OUT01
0x03 PWM output OUT02	wo UINT -- Value for PWM output OUT02
0x04 PWM output OUT03	wo UINT -- Value for PWM output OUT03
0x05 PWM output OUT04	wo UINT -- Value for PWM output OUT04
0x06 PWM output OUT05	wo UINT -- Value for PWM output OUT05
0x07 PWM output OUT06	wo UINT -- Value for PWM output OUT06
0x08 PWM output OUT07	wo UINT -- Value for PWM output OUT07
0x09 PWM output OUT08	wo UINT -- Value for PWM output OUT08
0x0A PWM output OUT09	wo UINT -- Value for PWM output OUT09
0x0B PWM output OUT10	wo UINT -- Value for PWM output OUT10
0x0C PWM output OUT11	wo UINT -- Value for PWM output OUT11
0x0D PWM output OUT12	wo UINT -- Value for PWM output OUT12
0x0E PWM output OUT13	wo UINT -- Value for PWM output OUT13
0x0F PWM output OUT14	wo UINT -- Value for PWM output OUT14
0x10 PWM output OUT15	wo UINT -- Value for PWM output OUT15

12.2.3 Device-specific CR2052

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

Index S-idx Designation Data type Default Details (CR2052)
0x1400 0x00 Receive PDOCommunication Parameter Number of entries	ro USINT 0x02Receive PDO 1: binary outputs 0 - 7number of entries = 2
	0x01 COBID used by PDO	rw UDINT 0x200	+ node ID	CAN ID of the first read PDOBit 31 = 0 → PDO is validBit 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 objectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event; outputs are updated immediately0xFF = asynch device profile event; outputs are updated immediately
0x1401 0x00 Receive PDOCommunication Parameter Number of entries	ro USINT 0x02Receive PDO 2: PWM outputs 0 - 3number of entries = 2
	0x01 COBID used by PDO	rw UDINT 0x300	+ node ID	CAN ID of the second read PDOBit 31 = 0 → PDO is validBit 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 objectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event; outputs are updated immediately0xFF = asynch device profile event; outputs are updated immediately

Index S-idx Designation Data type Default Details (CR2052)
0x1402 0x00 Receive PDO Communication Parameter Number of entries			ro USINT 0x02 R		Receive PDO 3: PWM outputs 4 - 7 number of entries = 2
			rw U	DINT 0x400	+ node ID	CAN-ID of the 3. read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid
			rw USINT 0x01 0x00 = synch acyclic

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

Index S-idx Designation Data type Default Details (CR2052)
0x1600 0x00 Receive PDO mapping Number of mapped objects in PDO	rw U	SINT 0x01	Mapping read PDO	DO 1: binary outputs
	ro UDINT 0x6200 0108 1 byte in index 0x6200, SubIndex 01 Binary outputs OUT00...OUT07 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04 0b--X- ---- = OUT05 0b-X-- ---- = OUT06 0bX--- ---- = OUT07

Index S-	dx Designation Data type Default Details (CR2052)
0x1601	0x00 Receive PDO mapping Number of mapped objects in PDO		rw U	SINT 0x04	Mapping read PDO	DO 2: PWM outputs OUT00...OUT03 number of integrated application objects = 4
	0x01 P	DO map-ping	rw U	DINT 0x641	4 0110 PWM/current	current output OUT00 Index 0x6414, SubIndex 0x01 contains the preset value of the PWM output OUT00, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x02 P	DO map-ping	rw U	DINT 0x641	4 0210 PWM/ current	current output OUT01 Index 0x6414, SubIndex 0x02 contains the preset value of the PWM output OUT01, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x03 P	DO map-ping	rw U	DINT 0x641	4 0310 PWM/ current	current output OUT02 Index 0x6414, SubIndex 0x03 contains the preset value of the PWM output OUT02, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x04 P	DO map-ping	rw U	DINT 0x641	4 0410 PWM/ current	current output OUT03 Index 0x6414, SubIndex 0x04 contains the preset value of the PWM output OUT03, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
Index S-idx Designation Data type Default Details (CR2052)
0x1602	0x00 Receive PDO mapping Number of mapped objects in PDO		rw U	SINT 0x04	Mapping read PDO	DO 3:PWM outputs OUT04...OUT07number of integrated applicationobjects = 4
	0x01 PDO mapping		rw U	DINT 0x641	4 0510 PWM/ current output OUT04Index 0x6414, SubIndex 0x05 contains the preset value of the PWM output OUT04, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x02 PDO mapping		rw U	DINT 0x641	4 0610 PWM/ current output OUT05Index 0x6414, SubIndex 0x06 contains the preset value of the PWM output OUT05, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x03 PDO mapping		rw U	DINT 0x641	4 0710 PWM/ current output OUT06Index 0x6414, SubIndex 0x07 contains the preset value of the PWM output OUT06, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)
	0x04 PDO mapping		rw U	DINT 0x641	4 0810 PWM/ current output OUT07Index 0x6414, SubIndex 0x08 contains the preset value of the PWM output OUT07, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

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

Index S-idx Designation Data type Default Details (CR2052)
0x1800 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 1number of entries = 5
	0x01 COBID usedby PDO	rw UDINT 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/0xFD 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 timewrw 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.
0x1801 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 2number of entries = 5
	0x01 COBID usedby PDO	rw U	DINT 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 acyclic	0x01...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 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 timewUINT 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 U DINT 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 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 timewrUINT 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 U DINT 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 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 timewrUINT 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 U DINT 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/0xFD 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 timewrUINT 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 U	DINT 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 acyclic	0x01...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 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 timewUINT 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.
0x1806 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 7number of entries = 5
	0x01 COBID usedby PDO	rw U	DINT 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 acyclic	0x01...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 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 timewUINT 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.
0x1807 0x00 TransmitPDO Com-municationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 8number of entries = 5
	0x01 COBID usedby PDO	rw U DINT 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/0xFD 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 timewrUINT 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 U DINT 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/0xFD 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 timewrUINT 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 U DINT 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/0xFD 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 timewUINT 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.
0x180A 0x00 TransmitPDO CommunicationParameterNumber ofentries	ro USINT 0x05 Configuration transmit PDO 11number of entries = 5
	0x01 COBID usedby PDO	rw UDINT 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/0xFD 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 transmission 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-idx Designation Data type Default Details (CR2052)
0x1A00 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO			rw U	SINT 0x07	mapping transmit	PDO 1number of integrated applicationobjects = 7
0x1A01 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO			rw USINT 0x04 mapping transmit			PDO 2 (analogueinputs)number of integrated applicationobjects = 4

Index S-idx Designation Data type Default Details (CR2052)
0x1A03	0x00 Transmit	PDO mappingNumber ofmappedobjects inPDO	rw USINT 0x02	mapping transmit	PDO 4 (periodetime IN00...IN01)number of integrated applicationobjects = 2
	0x01 P	DO mapping	rw UDINT 0x201	2 0120 Index 0x2012, SubIndex 0x01frequency input IN00:periode time ofthe signal
	0x02 P	DO mapping	rw UDINT 0x201	2 0220 Index 0x2012, SubIndex 0x02frequency input IN01:periode time ofthe signal
0x1A04	0x00 Transmit	PDO mappingNumber ofmappedobjects inPDO	rw USINT 0x02	mapping transmit	PDO 5 (periodetime IN04...IN05)number of integrated applicationobjects = 2
	0x01 P	DO mapping	rw UDINT 0x201	2 0320 Index 0x2012, SubIndex 0x03frequency input IN04:periode time ofthe signal
	0x02 P	DO mapping	rw UDINT 0x201	2 0420 Index 0x2012, SubIndex 0x04frequency input IN05:periode time ofthe signal
0x1A05	0x00 Transmit	PDO mappingNumber ofmappedobjects inPDO	rw USINT 0x04	mapping transmit	PDO 6 (duty cycleof the signal on the frequency inputIN00, IN01, IN04, IN05)number of integrated applicationobjects = 4
	0x01 P	DO mapping	rw UDINT 0x201	4 0110 Index 0x2014, SubIndex 0x01frequency input IN00: duty cycle ofthe signal in %o
	0x02 P	DO mapping	rw UDINT 0x201	4 0210 Index 0x2014, SubIndex 0x02frequency input IN01: duty cycle ofthe signal in %o
	0x03 P	DO mapping	rw UDINT 0x201	4 0310 Index 0x2014, SubIndex 0x03frequency input IN04: duty cycle ofthe signal in %o
	0x04 P	DO mapping	rw UDINT 0x201	4 0410 Index 0x2014, SubIndex 0x04frequency input IN05: duty cycle ofthe signal in %o

Index S-idx Designation Data type Default Details (CR2052)
0x1A06	0x00 TransmitPDO mappingNumber ofmappedobjects inPDO		rw USINT 0x02 mapping transmit			PDO 7 (frequencyon IN00...IN01)number of integrated applicationobjects = 2
	0x01 PDO mapping		rw UDINT 0x2015 0120 Index 0x2015, SubIndex 0x01frequency input IN00: frequencyvalue of the signal in Hz
	0x02 PDO mapping		rw UDINT 0x2015 0220 Index 0x2015, SubIndex 0x02frequency input IN01: frequencyvalue of the signal in Hz
0x1A07	0x00 TransmitPDO mappingNumber ofmappedobjects inPDO		rw USINT 0x02 mapping transmit			PDO 8 (frequencyon IN04...IN05)number of integrated applicationobjects = 2
	0x01 PDO mapping		rw UDINT 0x2015 0320 Index 0x2015, SubIndex 0x03frequency input IN04: frequencyvalue of the signal in Hz
	0x02 PDO mapping		rw UDINT 0x2015 0420 Index 0x2015, SubIndex 0x04frequency input IN05: frequencyvalue of the signal in Hz
0x1A08	0x00 TransmitPDO mappingNumber ofmappedobjects inPDO		rw USINT 0x04 mapping transmit			PDO 9 (outputcurrent OUT00...OUT03)number of integrated applicationobjects = 4
	0x01 PDO mapping		rw UDINT 0x2002 0110 Index 0x2002, SubIndex 0x01current on output OUT00
	0x02 PDO mapping		rw UDINT 0x2002 0210 Index 0x2002, SubIndex 0x02current on output OUT01
	0x03 PDO mapping		rw UDINT 0x2002 0310 Index 0x2002, SubIndex 0x03current on output OUT02
	0x04 PDO mapping		rw UDINT 0x2002 0410 Index 0x2002, SubIndex 0x04current on output OUT03

Index S-idx Designation Data type Default Details (CR2052)
0x1A09 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO	rw U	SINT 0x04	mapping transmit	PDO 10 (outputcurrent OUT04...OUT07)number of integrated applicationobjects = 4
	0x01 P	DO mapping	rw U	DINT 0x2002 0510 Index 0x2	2002, SubIndex 0x05current on output OUT04
	0x02 P	DO mapping	rw U	DINT 0x2002 0610 Index 0x2	2002, SubIndex 0x06current on output OUT05
	0x03 P	DO mapping	rw U	DINT 0x2002 0710 Index 0x2	2002, SubIndex 0x07current on output OUT06
	0x04 P	DO mapping	rw U	DINT 0x2002 0810 Index 0x2	2002, SubIndex 0x08current on output OUT07
0x1A0A 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO	rw U	SINT 0x03	mapping transmit	PDO 11 (systemflag)number of integrated applicationobjects = 4
	0x01 P	DO mapping	rw U	DINT 0x2040 0110 Index 0x2	2040, SubIndex 0x01supply voltage of the system VBBS
	0x02 P	DO mapping	rw U	DINT 0x2041 0110 Index 0x2	2041, SubIndex 0x01output supply voltage VBB2
	0x03 P	DO mapping	rw U	DINT 0x2050 0010 Index 0x2	2050, SubIndex 0x00system temperature in °C

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

Index S-idx Designation Data type Default Details (CR2052)
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 = 0x0C14 = 0x0E20 = 0x14	off Input IN000...10 000 mV ratiometric 0...1000 %00...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 %00...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			10 = 0x0A11 = 0x0B18 = 0x12	off Input IN02 binary plus switched binary plus switched with diagnosis 16...30 000 Ohm
	0x04 Configuration IN03	rw USINT 10 0 = 0x00			10 = 0x0A11 = 0x0B18 = 0x12	off Input IN03 binary plus switched binary plus switched with diagnosis 16...30 000 Ohm
0x2000 0x05 Configuration IN04			rw USINT 10 0 = 0x00		3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C14 = 0x0E20 = 0x14	off Input IN040...10 000 mV ratiometric 0...1000 %o0...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 %o
Index S-idx Designation Data type Default Details (CR2052)
0x2000 0x0A Configuration OUT01			rw USINT 2 0 = 0x00		2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10	off Output OUT01 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

Index S-idx Designation Data type Default Details (CR2052)

0x2000 0x0F Configuration OUT06

rw USINT 2 0 = 0x00

2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10

off Output OUT06binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection

0x10 Configuration OUT07

rw USINT 2 0 = 0x00

2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10

off Output OUT07binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection

0x2001 0x00 PWM frequency

ro USINT 8 Largest sub-index supported

0x01 PWM frequency OUT00

rw UINT 100 20..250 OUT00 PWM frequen- cy [Hz]

0x02 PWM frequency OUT01

rw UINT 100 20..250 OUT01 PWM frequen- cy [Hz]

0x03 PWM frequency OUT02

rw UINT 100 20..250 OUT02 PWM frequen- cy [Hz]

0x04 PWM frequency OUT03

rw UINT 100 20..250 OUT03 PWM frequen- cy [Hz]

0x5

PWM frequency OUT04

rw UINT 100 20..250 OUT04 PWM frequen- cy [Hz]

0x6

PWM frequency OUT05

rw UINT 100 20..250 OUT05 PWM frequen- cy [Hz]

0x7

PWM frequency OUT06

rw UINT 100 20..250 OUT06 PWM frequen- cy [Hz]

0x8

PWM frequency OUT07

rw UINT 100 20..250 OUT07 PWM frequen- cy [Hz]

Index S-idx Designation Data type Default Details (CR2052)
0x2002 0x00 Current value ro USINT 8 Largest sub-index supported
	0x01 Current value OUT00	ro UI NT 0 20...4000 OUT00 output current				[mA]
	0x02 Current value OUT01	ro UI NT 0 20...4000 OUT01 output current				[mA]
	0x03 Current value OUT02	ro UI NT 0 20...4000 OUT02 output current				[mA]
	0x04 Current value OUT03	ro UI NT 0 20...4000 OUT03 output current				[mA]
	0x05 Current value OUT04	ro UI NT 0 20...2500 OUT04 output current				[mA]
	0x06 Current value OUT05	ro UI NT 0 20...2500 OUT05 output current				[mA]
	0x07 Current value OUT06	ro UI NT 0 20...2500 OUT06 output current				[mA]
	0x08 Current value OUT07	ro UI NT 0 20...2500 OUT07 output current				[mA]
0x2004 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
0x2005 0x00 I-value ro USINT 8 L largest sub-index supported
0x2006 0x00 PWM dither frequency ro USINT 8 Largest sub-index supported
0x2007 0x00 PW	M dither value	ro USINT 8 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 [%]
0x2012 0x00 Period input ro USINT 4 Largest sub-index supported
0x2013 0x00 Period input number of periods for average		ro USINT 4 Largest sub-index supported
0x2014 0x00 Period input– ratio value		ro USINT 4 Largest sub-index supported
		ro UI NT 0 0...1 000 IN00 marc-to-space				ratio [%]
		ro UI NT 0 0...1 000 IN01 marc-to-space				ratio [%]
		ro UI NT 0 0...1 000 IN04 marc-to-space				ratio [%]
		ro UI NT 0 0...1 000 IN05 marc-to-space				ratio [%]
0x2015 0x00 Frequency input		ro USINT 4 Largest sub-index supported
		ro REAL 1 0...30 000 IN00 frequency [Hz]
		ro REAL 1 0...30 000 IN01 frequency [Hz]
		ro REAL 1 0...30 000 IN04 frequency [Hz]
		ro REAL 1 0...30 000 IN05 frequency [Hz]
0x2016 0x00 Timebase ro USINT		4 Largest sub-index supported
		rw	UINT 50	0...2	000 IN00 timebase [ms]
		rw	UINT 50	0...2	000 IN01 timebase [ms]
		rw	UINT 50	0...2	000 IN04 timebase [ms]
		rw	UINT 50	0...2	000 IN05 timebase [ms]
0x2020 0x00 Input – short to supply voltage		ro USINT 1 Largest sub-index supported
		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
		ro USINT 0 0 = normal

Index S-idx Designation Data type Default Details (CR2052)
0x2021 0x00 Input - wire break			ro USINT 1 Largest sub-index supported
0x01 Wire breakIN00...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
Index S-idx Designation Data type Default Details (CR2052)
0x2025 0x00 Input analog - overcurrent			ro USINT 1 Largest sub-index supported
0x01 Overcurrent IN00, IN01,N04 und IN05			ro USINT 0 0 = normal			1 = overcurrent	channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN040b---- X--- = IN05
0x2030 0x00 Input resistor ro USINT 4 Largest sub-index supported
						ro UI NT 0 0...30		000 IN02 resistance		[Ohms]
						ro UI NT 0 0...30		000 IN03 resistance		[Ohms]
						ro UI NT 0 0...30		000 IN06 resistance		[Ohms]
						ro UI NT 0 0...30		000 IN07 resistance		[Ohms]
0x2040 0x00 System supply voltage VBBS			ro USINT 1 Largest sub-index supported
			VBB$ voltage [mV]
0x2041 0x00 Output supply voltage			ro USINT 1 Largest sub-index supported
			VBB2 voltage [mV]
0x2050 Device temperature			ro UI NT 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 kBit/s
						1	800 kBit/s
						2	500 kBit/s
						3	250 kBit/s
						4	125 kBit/s
						5	100 kBit/s
						6	50 kBit/s
						7	20 kBit/s

Index S-idx Designation Data type Default Details (CR2052)
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 inputLargest sub-index supported	ro USINT 0x02		Binary inputsLargest supported sub-index = 2
	0x01 Binary inputsIN00 - IN07	ro USINT 0 Binary inputs IN00...IN07
0x6200	0x00 Binary outputLargest sub-index supported	ro USINT 0x02		Binary outputsLargest supported sub-index = 2
	0x01 Binary outputs OUT00 - OUT07	wo	USINT 0 Binary outputs OUT00...OUT07
Index S-idx Designation Data type Default Details (CR2052)
0x6404 0x00 Analogue input Largest sub-index supported			ro USINT 0x04 Analogue inputs		Largest supported sub-index = 4
0x01 Analogue input IN00			ro UINT -- Analogue value of input IN00
0x02 Analogue input IN01			ro UINT -- Analogue value of input IN01
0x03 Analogue input IN04			ro UINT -- Analogue value of input IN04
0x04 Analogue input IN05			ro UINT -- Analogue value of input IN05
0x6414 0x00 PWM output Largest sub-index supported			ro USINT 0x08 PWM outputs		Largest supported sub-index = 12

12.3 SDOs error messages

12.3.1 CR2050

The following messages are created in case of an error:

Index S-idx Designation Data type Default Details (CR2050)
0x1001 Error register ro USINT 0 Error register bit coded to profil 301 permissible values:0b0000 0000 = no error0b0000 0001 = generic error0b0001 0000 = communication error0b1000 0000 = manufacturer specific
0x1003 0x00 Predefined error fieldNumber of entries			rw UDINT 0 An error list with 4 entries is supported.
							channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b----X ---- = IN040b--X- ---- = IN050b-X-- ---- = IN060bX--- ---- = IN07
Index S-idx Designation Data type Default Details (CR2050)
0x2021 0x00 Input - wire break ro USINT 2 Largest sub-index supported
0x02 Wire break IN08,IN10, IN12, IN14			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
0x2025 0x00 Input analog - overcurrent			ro USINT 1 Largest sub-index supported
			ro USINT 0 0 = normal			1 = overcurrent	channels (bit coded)0b---- ---X = IN080b---- --X- = IN100b---- -X-- = IN120b---- X--- = IN14
			0x01 OvercurrentIN00...IN07

12.3.2 CR2051

The following messages are created in case of an error:

Index S-idx Designation Data type Default Details (CR2051)

0x1001 Error register ro USINT 0 Error register bit coded to profil 301 permissible values:0b0000 0000 = no error0b0000 0001 = generic error0b0001 0000 = communication error0b1000 0000 = manufacturer specific

0x1003 0x00 Predefined error fieldNumber of entries

rw UDINT 0 An error list with 4 entries is supported.

0x02 Error history ro UDINT 0 Error occurred; coded according to EMCY listThe last error is indicated in the sub-index 1

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

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 = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b----X---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07

Index S-idx Designation Data type Default Details (CR2051)
0x2023 0x00 Output – open circuit		ro USINT 2 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
		0x02 Open circuitOUT08...OUT15	ro USINT 0 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 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

12.3.3 CR2052

The following messages are created in case of an error:

Index S-	Idx Designation Data type Default Details (CR2052)
0x1001	Error register ro USINT 0 Error register bit coded to profi 301 permissible values:0b0000 0000 = no error0b0000 0001 = generic error0b0001 0000 = communication error0b1000 0000 = manufacturer specific
0x1003	0x00 Predefined error fieldNumber 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 listThe 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 voltageIN00...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
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
Index S-idx Designation Data type Default Details (CR2052)
0x2022 0x00 Output - short circuit			ro USINT 1 Largest sub-index supported
0x01 Short circuit OUT00...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 circuit OUT00...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 Overload OUT00...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
0x2025 0x00 Input analog - overcurrent			ro USINT 1 Largest sub-index supported