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50 Reference
Index Sub-
Object
Name
ind.
1A00h 0
ARRAY
PDO_TransmitMapping_0_AU32
1
PDO_TransmitMapping_0_AU32[1]
...
...
254
PDO_TransmitMapping_0_AU32[254]
1C00h 0
ARRAY
SM_CommunicationType_AU8
1
SM_CommunicationType_AU8
2
SM_CommunicationType_AU8
3
SM_CommunicationType_AU8
4
SM_CommunicationType_AU8
5
SM_CommunicationType_AU8
6
SM_CommunicationType_AU8
7
SM_CommunicationType_AU8
8
SM_CommunicationType_AU8
1C12h 0
ARRAY
SM_PDOAssignment_2_AU16
1
SM_PDOAssignment_2_AU16[1]
...
...
16
SM_PDOAssignment_2_AU16[16]
1C13h 0
ARRAY
SM_PDOAssignment_3_AU16
1
SM_PDOAssignment_3_AU16[1]
...
...
16
SM_PDOAssignment_3_AU16[16]
1C32h 0
REC
SM_Synchronization_2_REC
1
SM_Synchronization_2_REC.SyncMode_U16
2
SM_Synchronization_2_REC.CycleTime_U32
3
SM_Synchronization_2_REC.ShiftTime_U32
4
SM_Synchronization_2_REC.SyncModesSupported_
U16
5
SM_Synchronization_2_REC.MinimumCycleTime
_U32
6
SM_Synchronization_2_REC.MinimumDelayTime
_U32
1C33h 0
REC
SM_Synchronization_3_REC
1
SM_Synchronization_3_REC.SyncMode_U16
2
SM_Synchronization_3_REC.CycleTime_U32
3
SM_Synchronization_3_REC.ShiftTime_U32
4
SM_Synchronization_3_REC.SyncModesSupported_
U16
5
SM_Synchronization_3_REC.MinimumCycleTime
_U32
6
SM_Synchronization_3_REC.MinimumDelayTime
_U32
Notes
1001h: The error register gives simplified information about the fault status of the
drive, for example a bit is enabled if a power fault is detected. This object is not
normally used because communication fails if a power fault is detected.
1010h, 1011h: The store and restore objects are supported. They return 1 on read
which means 1010h: save on command, 1011h: restore supported. 1010h must be
written with 0x65766173, which is ASCII "evas". "evas" is transmitted in little endian
Type
Attr.
PDO
mapping
UINT8
RW
No
UINT32
RW
No
...
...
...
UINT32
RW
No
UINT8
RO
No
RO
No
RO
No
RO
No
RO
No
RO
No
RO
No
RO
No
RO
No
UINT8
RW
No
UINT16
RW
No
...
...
RW
No
UINT8
RW
No
UINT16
RW
No
...
...
RW
No
UINT8
RO
No
UINT16
RO
No
UINT32
RO
No
UINT32
RO
No
UINT16
RO
No
UINT32
RO
No
UINT32
RO
No
UINT8
RO
No
UINT16
RO
No
UINT32
RO
No
UINT32
RO
No
UINT16
RO
No
UINT32
RO
No
UINT32
RO
No
Content
example
2
1614872592
...
0
8
1
2
3
4
0
0
0
0
1
0
...
0
1
0
...
0
6
1
2000000
0
16390
250000
0
6
34
2000000
0
16390
250000
0
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