2 Beckhoff Automation GmbH 424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9 Measuring Measuring Terminals (EL5xxx) Winkel-/Wegmessungsklemmen (EL5xxx) 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000000000FF00FFFF00FFFF00FF000000FF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FF000000FF00FFFF00FFFF00FF000000FF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF000000FF00FFFF00FFFF00FF000000FF00FFC0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FF000000FF00FF000000FF00FF000000FF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF000000000000FF00FF000000000000FF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF000000FF00FFFF00FFFF00FF000000FF00FFC0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF007FFF007FFF007FFF007FFF007FFF007FFFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF007FFF007FFF007FFF007FFF007FFF007FFFC0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FF007FFF007FFF007FFF007FFF007FFF007FFFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF007FFF007FFF007FFF007FFF007FFF007FFFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF007FFF007FFF007FFF007FFF007FFF007FFFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF007FFF007FFF007FFF007FFF007FFF007FFFC0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FF007FFF007FFF007FFF007FFF007FFF007FFFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF EL5001 120 Measuring 501 500 MBoxState Inputs MBoxOut MBoxIn Outputs Inputs #x1a00 Channel 1 #x3101 1 8 Status BYTE #x3101 2 32 Value UDINT 2048 05001300 0018f400f418f400 EL5001 120 Measuring 5001 500 MBoxState Inputs MBoxOut MBoxIn Outputs Inputs #x1a00 Channel 1 #x6000 1 8 Status BYTE #x6000 2 32 Value UDINT 2048 05001300 0018f400f418f400 EL5001-0010 120 Measuring MBoxState Inputs MBoxOut MBoxIn Outputs Inputs #x1a00 Channel 1 #x6000 1 8 Status BYTE #x6000 2 32 Value UDINT 2048 05001300 0018f400f418f400 EL5101 150 Measuring 5001 510 BOOL 1 USINT 8 UINT 16 UDINT 32 STRING(11) 88 STRING(16) 128 STRING(5) 40 DT0029 16 Free Run 0 SM 2 Event 1 SYNC0 Event 2 DT1011ARR UDINT 32 1 1 DT1011 48 0 No of Elements USINT 8 0 ro Elements DT1011ARR 32 16 ro DT1018 144 0 No of Elements USINT 8 0 ro 1 Vendor Name UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT1600 80 0 No of Elements USINT 8 0 ro 1 RxPDO Mapping Element 1: Ctrl (7000:01) UDINT 32 16 1879048456 1879048456 1879048456 rw 2 RxPDO Mapping Element 2: Value (7000:02) UDINT 32 48 1879048720 1879048720 1879048720 rw DT1601 112 0 No of Elements USINT 8 0 ro 1 RxPDO Mapping Element 1: Ctrl (7000:01) UDINT 32 16 1879048456 1879048456 1879048456 rw 2 RxPDO Mapping Element 2: WORD-Align UDINT 32 48 8 8 8 rw 3 RxPDO Mapping Element 3: Value (7000:02) UDINT 32 80 1879048720 1879048720 1879048720 rw DT1A00 112 0 No of Elements USINT 8 0 ro 1 TxPDO Mapping Element 1: Status (6000:01) UDINT 32 16 1610613000 1610613000 1610613000 rw 2 TxPDO Mapping Element 2: Value (6000:02) UDINT 32 48 1610613264 1610613264 1610613264 rw 3 TxPDO Mapping Element 3: Latch (6000:03) UDINT 32 80 1610613520 1610613520 1610613520 rw DT1A01 144 0 No of Elements USINT 8 0 ro 1 TxPDO Mapping Element 1: Status (6000:01) UDINT 32 16 1610613000 1610613000 1610613000 rw 2 TxPDO Mapping Element 2: WORD-Align UDINT 32 48 8 8 8 rw 3 TxPDO Mapping Element 3: Value (6000:02) UDINT 32 80 1610613264 1610613264 1610613264 rw 4 TxPDO Mapping Element 4: Latch (6000:03) UDINT 32 112 1610613520 1610613520 1610613520 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 No of Elements USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12 32 0 No of Elements USINT 8 0 0 1 1 rw 1 Assigned RxPDO UINT 16 16 5632 5633 5632 rw DT1C13 32 0 No of Elements USINT 8 0 0 1 1 rw 1 Assigned TxPDO UINT 16 16 6656 6657 6656 rw DT1C3X 96 0 No of Elements USINT 8 0 ro 1 Synchronization Mode DT0029 16 16 1 rw 2 Cycle Time UDINT 32 32 0 rw 2 Shift Time UDINT 32 64 0 rw DT6000 56 0 No of Elements USINT 8 0 ro 1 Status USINT 8 16 ro T 2 Value UINT 16 24 ro T 3 Latch UINT 16 40 ro T DT7000 40 0 No of Elements USINT 8 0 ro 1 Ctrl USINT 8 16 ro R 2 Value UINT 16 24 ro R DT8000 25 0 No of Elements USINT 8 0 ro 1 Enable register reload BOOL 1 16 rw 2 Enable index reset BOOL 1 17 rw 3 Enable freq. window BOOL 1 18 rw 4 Enable period measurement BOOL 1 19 rw 5 Enable V/R count BOOL 1 20 rw 6 Load QEICON from E² BOOL 1 21 rw 7 Enable pos. gate BOOL 1 22 rw 8 Enable neg. gate BOOL 1 23 rw 9 Enable freq. measurement BOOL 1 24 rw DT8001 64 0 No of Elements USINT 8 0 ro 1 Freqency window UINT 16 16 rw 2 Counter reload value UINT 16 32 rw 3 QEICON config value UINT 16 48 rw #x1000 Device Type UDINT 32 00000000 ro #x1008 Device Name STRING(11) 88 454c353130312d30303030 ro #x1009 Hardware Version STRING(16) 128 ro #x100A Software Version STRING(5) 40 3030303031 ro #x1011 Load Default Parameter DT1011 48 010000000000 rw #x1018 Identity DT1018 144 040002005230ed1300000000000000000000 ro #x1600 Outputs DT1600 80 02000801007010020070 rw #x1601 Outputs Word-Aligned DT1601 112 0300080100700800000010020070 rw #x1A00 Inputs DT1A00 112 0300080100601002006010030060 rw #x1A01 Inputs Word-Aligned DT1A01 144 040008010060080000001002006010030060 rw #x1C00 Sync Manager Type DT1C00 48 040001020304 ro #x1C01 Process Data Format UINT 16 0001 rw #x1C12 Sync Manager 2 RxPDO Assign DT1C12 32 01000016 rw #x1C13 Sync Manager 3 TxPDO Assign DT1C13 32 0100001a rw #x1C32 Sync Manager 2 Parameter DT1C3X 96 030001000000000000000000 rw #x6000 Inputs DT6000 56 03000000000000 ro #x7000 Outputs DT7000 40 0200000000 ro #x8000 Non-Volatile Settings 0 DT8000 25 09000000 rw #x8001 Non-Volatile Settings 1 DT8001 64 0300000000000000 rw Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Channel 1 #x7000 1 8 Ctrl USINT #x7000 2 16 Value UINT #x1a00 Channel 1 #x6000 1 8 Status USINT #x6000 2 16 Value UINT #x6000 3 16 Latch UINT 2048 05001300 0018f400f418f400 EL5101 150 Measuring 5001 510 Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Outputs #x1601 #x7000 1 8 Ctrl USINT #x7000 2 16 Value UINT #x1601 Outputs #x1600 #x7000 1 8 Ctrl USINT 0 8 #x7000 2 16 Value UINT #x1a00 Inputs #x1a01 #x6000 1 8 Status USINT #x6000 2 16 Value UINT #x6000 3 16 Latch UINT #x1a01 Inputs #x1a00 #x6000 1 8 Status USINT 0 8 #x6000 2 16 Value UINT #x6000 3 16 Latch UINT #x1a02 Inputs #x6000 4 32 Frequency UDINT #x6000 5 16 Period UINT #x6000 6 16 Window UINT 2048 050003080000 0018f400f418f400 EL5101 EL5101 1Ch. Inc. Encoder 5V EL5101 1K. Inc. Encoder 5V 130 100 2000 Measuring 5001 510 5001 511 BIT2 0 BOOL 1 BYTE 8 UDINT 32 UINT 16 ULINT 64 USINT 8 ARRAY [0..13] OF BYTE BYTE 112 0 14 ARRAY [0..5] OF BYTE BYTE 48 0 6 STRING(2) 16 STRING(6) 48 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT0801EN01 BOOL 1 Fall 0 Rise 1 DT0802EN16 UINT 16 0.01Hz 100 DT0803EN16 UINT 16 100ns 100 500ns 500 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT1400 64 0 SubIndex 000 USINT 8 0 ro o 6 Exclude RxPDOs ARRAY [0..5] OF BYTE 48 16 ro o DT1600 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1601 112 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o DT1602 240 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o DT1800 128 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..13] OF BYTE 112 16 ro o DT1803 136 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..13] OF BYTE 112 16 ro o 7 TxPDO-State BOOL 1 128 ro o T 9 TxPDO-Toggle BOOL 1 129 ro o T DT1A01 144 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o DT1A03 592 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o 14 SubIndex 014 UDINT 32 432 ro o 15 SubIndex 015 UDINT 32 464 ro o 16 SubIndex 016 UDINT 32 496 ro o 17 SubIndex 017 UDINT 32 528 ro o 18 SubIndex 018 UDINT 32 560 ro o DT1A05 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 48 16 rw o DT1C32 344 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 208 rw o 9 Delay time UDINT 32 224 ro o 11 SM event missed counter UINT 16 288 ro o 12 Cycle exceeded counter UINT 16 304 ro o 13 Shift too short counter UINT 16 320 ro o 32 Sync error BOOL 1 336 ro o DT6000 120 0 SubIndex 000 USINT 8 0 ro o 1 Status USINT 8 16 ro o T 2 Value UINT 16 24 ro o T 3 Latch UINT 16 40 ro o T 4 Frequency UDINT 32 56 ro o T 5 Period UINT 16 88 ro o T 6 Window UINT 16 104 ro o T DT6010 224 0 SubIndex 000 USINT 8 0 ro o 1 Latch C valid BOOL 1 16 ro o T 2 Latch extern valid BOOL 1 17 ro o T 3 Set counter done BOOL 1 18 ro o T 4 Counter underflow BOOL 1 19 ro o T 5 Counter overflow BOOL 1 20 ro o T 6 Status of input status BOOL 1 21 ro o T 7 Open circuit BOOL 1 22 ro o T 8 Extrapolation stall BOOL 1 23 ro o T 9 Status of input A BOOL 1 24 ro o T 10 Status of input B BOOL 1 25 ro o T 11 Status of input C BOOL 1 26 ro o T 12 Status of input gate BOOL 1 27 ro o T 13 Status of extern latch BOOL 1 28 ro o T 14 Sync Error BOOL 1 29 ro o T 15 TxPDO State BOOL 1 30 ro o T 16 TxPDO Toggle BOOL 1 31 ro o T 17 Counter value UDINT 32 32 ro o T 18 Latch value UDINT 32 64 ro o T 19 Frequency value UDINT 32 96 ro o T 20 Period value UDINT 32 128 ro o T 22 Timestamp ULINT 64 160 ro o T DT7000 40 0 SubIndex 000 USINT 8 0 ro o 1 Ctrl USINT 8 16 ro o R 2 Value UINT 16 24 ro o R DT7010 64 0 SubIndex 000 USINT 8 0 ro o 1 Enable latch C BOOL 1 16 ro o R 2 Enable latch extern on positive edge BOOL 1 17 ro o R 3 Set counter BOOL 1 18 ro o R 4 Enable latch extern on negative edge BOOL 1 19 ro o R 17 Set counter value UDINT 32 32 ro o R DT8000 24 0 SubIndex 000 USINT 8 0 ro o 1 Enable register reload BOOL 1 16 rw o 1 1 2 Enable index reset BOOL 1 17 rw o 1 1 3 Enable FWD count BOOL 1 18 rw o 1 1 4 Enable pos. gate BOOL 1 19 rw o 1 1 5 Enable neg. gate BOOL 1 20 rw o 1 1 DT8001 48 0 SubIndex 000 USINT 8 0 ro o 1 Frequency window UINT 16 16 rw o 1 1 2 Counter reload value UINT 16 32 rw o 1 1 DT8010 112 0 SubIndex 000 USINT 8 0 ro o 1 Enable C reset BOOL 1 16 rw o 1 1 2 Enable extern reset BOOL 1 17 rw o 1 1 3 Enable up/down counter BOOL 1 18 rw o 1 1 4 Gate polarity DT0800EN02 2 19 rw o 1 1 8 Disable filter BOOL 1 23 rw o 1 1 10 Enable micro increments BOOL 1 25 rw o 1 1 11 Open circuit detection A BOOL 1 26 rw o 1 1 12 Open circuit detection B BOOL 1 27 rw o 1 1 13 Open circuit detection C BOOL 1 28 rw o 1 1 14 Reversion of rotation BOOL 1 29 rw o 1 1 16 Extern reset polarity DT0801EN01 1 31 rw o 1 1 17 Frequency window UINT 16 32 rw o 1 1 19 Frequency unit DT0802EN16 16 80 rw o 1 1 20 Period unit DT0803EN16 16 96 rw o 1 1 DTA010 24 0 SubIndex 000 USINT 8 0 ro o 1 Open circuit A BOOL 1 16 ro o 2 Open circuit B BOOL 1 17 ro o 3 Open circuit C BOOL 1 18 ro o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 64 1 2 DTF010 80 0 SubIndex 000 USINT 8 0 rw o Elements DTF010ARR 64 16 rw o #x1000 Device type UDINT 32 89130000 ro o #x1008 Device name STRING(6) 48 454c35313031 ro o #x1009 Hardware version STRING(2) 16 3039 ro o #x100a Software version STRING(2) 16 3130 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 5230ed13 Revision 0000f903 Serial number 00000000 ro o #x10f0 Backup parameter handling DT10F0 48 SubIndex 000 01 Checksum 00000000 ro o #x1400 RxPDO-Par Outputs DT1400 64 SubIndex 000 06 Exclude RxPDOs 011602160316 ro o #x1401 RxPDO-Par Outputs Word-Aligned DT1400 64 SubIndex 000 06 Exclude RxPDOs 001602160316 ro o #x1402 ENC RxPDO-Par Control compact DT1400 64 SubIndex 000 06 Exclude RxPDOs 031600160116 ro o #x1403 ENC RxPDO-Par Control DT1400 64 SubIndex 000 06 Exclude RxPDOs 021600160116 ro o #x1600 RxPDO-Map Outputs DT1600 80 SubIndex 000 02 SubIndex 001 08010070 SubIndex 002 10020070 ro o #x1601 RxPDO-Map Outputs Word-Aligned DT1601 112 SubIndex 000 03 SubIndex 001 08010070 SubIndex 002 08000000 SubIndex 003 10020070 ro o #x1602 ENC RxPDO-Map Control compact DT1602 240 SubIndex 000 07 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 01041070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 10111070 ro o #x1603 ENC RxPDO-Map Control DT1602 240 SubIndex 000 07 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 01041070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 20111070 ro o #x1800 TxPDO-Par Inputs DT1800 128 SubIndex 000 06 Exclude TxPDOs 011a031a041a051a061a071a081a ro o #x1801 TxPDO-Par Inputs Word-Aligned DT1800 128 SubIndex 000 06 Exclude TxPDOs 001a031a041a051a061a071a081a ro o #x1802 TxPDO-Par Inputs Optional DT1800 128 SubIndex 000 06 Exclude TxPDOs 031a041a051a061a071a081a0000 ro o #x1803 ENC TxPDO-Par Status compact DT1803 136 SubIndex 000 09 Exclude TxPDOs 041a001a011a021a000000000000 ro o #x1804 ENC TxPDO-Par Status DT1803 136 SubIndex 000 09 Exclude TxPDOs 031a001a011a021a000000000000 ro o #x1805 ENC TxPDO-Par Frequency DT1800 128 SubIndex 000 06 Exclude TxPDOs 001a011a021a061a000000000000 ro o #x1806 ENC TxPDO-Par Period DT1800 128 SubIndex 000 06 Exclude TxPDOs 001a011a021a051a000000000000 ro o #x1807 ENC TxPDO-Par Timest. DT1800 128 SubIndex 000 06 Exclude TxPDOs 081a001a011a021a000000000000 ro o #x1808 ENC TxPDO-Par Timest. compact DT1800 128 SubIndex 000 06 Exclude TxPDOs 071a001a011a021a000000000000 ro o #x1a00 TxPDO-Map Inputs DT1601 112 SubIndex 000 03 SubIndex 001 08010060 SubIndex 002 10020060 SubIndex 003 10030060 ro o #x1a01 TxPDO-Map Inputs Word-Aligned DT1A01 144 SubIndex 000 04 SubIndex 001 08010060 SubIndex 002 08000000 SubIndex 003 10020060 SubIndex 004 10030060 ro o #x1a02 TxPDO-Map Inputs Optional DT1601 112 SubIndex 000 03 SubIndex 001 20040060 SubIndex 002 10050060 SubIndex 003 10060060 ro o #x1a03 ENC TxPDO-Map Status compact DT1A03 592 SubIndex 000 12 SubIndex 001 01011060 SubIndex 002 01021060 SubIndex 003 01031060 SubIndex 004 01041060 SubIndex 005 01051060 SubIndex 006 01061060 SubIndex 007 01071060 SubIndex 008 01081060 SubIndex 009 01091060 SubIndex 010 010a1060 SubIndex 011 010b1060 SubIndex 012 010c1060 SubIndex 013 010d1060 SubIndex 014 0120321c SubIndex 015 01070318 SubIndex 016 01090318 SubIndex 017 10111060 SubIndex 018 10121060 ro o #x1a04 ENC TxPDO-Map Status DT1A03 592 SubIndex 000 12 SubIndex 001 01011060 SubIndex 002 01021060 SubIndex 003 01031060 SubIndex 004 01041060 SubIndex 005 01051060 SubIndex 006 01061060 SubIndex 007 01071060 SubIndex 008 01081060 SubIndex 009 01091060 SubIndex 010 010a1060 SubIndex 011 010b1060 SubIndex 012 010c1060 SubIndex 013 010d1060 SubIndex 014 0120321c SubIndex 015 01070418 SubIndex 016 01090418 SubIndex 017 20111060 SubIndex 018 20121060 ro o #x1a05 ENC TxPDO-Map Frequency DT1A05 48 SubIndex 000 01 SubIndex 001 20131060 ro o #x1a06 ENC TxPDO-Map Period DT1A05 48 SubIndex 000 01 SubIndex 001 20141060 ro o #x1a07 ENC TxPDO-Map Timest. DT1A05 48 SubIndex 000 01 SubIndex 001 40161060 ro o #x1a08 ENC TxPDO-Map Timest. compact DT1A05 48 SubIndex 000 01 SubIndex 001 20161060 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 32 SubIndex 000 01 SubIndex 001 0016 rw o #x1c13 TxPDO assign DT1C13 64 SubIndex 000 01 SubIndex 001 001a SubIndex 002 0000 SubIndex 003 0000 rw o #x1c32 SM output parameter DT1C32 344 SubIndex 000 20 Sync mode 0100 Cycle time 00000000 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time 00000000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C32 344 SubIndex 000 20 Sync mode 2200 Cycle time 00000000 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time 00000000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x6000 Inputs DT6000 120 SubIndex 000 06 Status 00 Value 0000 Latch 0000 Frequency 00000000 Period 0000 Window 0000 ro o #x6010 ENC Inputs DT6010 224 SubIndex 000 16 Latch C valid 00 Latch extern valid 00 Set counter done 00 Counter underflow 00 Counter overflow 00 Status of input status 00 Open circuit 00 Extrapolation stall 00 Status of input A 00 Status of input B 00 Status of input C 00 Status of input gate 00 Status of extern latch 00 Counter value 00000000 Latch value 00000000 Frequency value 00000000 Period value 00000000 Timestamp 0000000000000000 ro o #x7000 Outputs DT7000 40 SubIndex 000 02 Ctrl 00 Value 0000 ro o #x7010 ENC Outputs DT7010 64 SubIndex 000 11 Enable latch C 00 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 00000000 ro o #x8000 Non-Volatile Settings 0 DT8000 24 SubIndex 000 05 Enable register reload 00 Enable index reset 00 Enable FWD count 00 Enable pos. gate 01 Enable neg. gate 00 rw o #x8001 Non-Volatile Settings 1 DT8001 48 SubIndex 000 02 Frequency window 6400 Counter reload value ffff rw o #x8010 ENC Settings DT8010 112 SubIndex 000 14 Enable C reset 00 Enable extern reset 00 Enable up/down counter 00 Gate polarity 01 Disable filter 01 Enable micro increments 00 Open circuit detection A 01 Open circuit detection B 01 Open circuit detection C 00 Reversion of rotation 00 Extern reset polarity 01 Frequency window 1027 Frequency unit 6400 Period unit 6400 rw o #xa010 ENC Diag data DTA010 24 SubIndex 000 03 Open circuit A 00 Open circuit B 00 Open circuit C 00 ro o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0200 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Module list DTF010 80 SubIndex 000 02 SubIndex 001 fe010000 SubIndex 002 ff010000 rw o Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Outputs #x1601 #x1602 #x1603 #x7000 1 8 Ctrl USINT #x7000 2 16 Value UINT #x1601 Outputs #x1600 #x1602 #x1603 #x7000 1 8 Ctrl USINT #x0 8 #x7000 2 16 Value UINT #x1602 ENC Control compact #x1603 #x1600 #x1601 #x7010 1 1 Enable latch C BOOL #x7010 2 1 Enable latch extern on positive edge BOOL #x7010 3 1 Set counter BOOL #x7010 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7010 17 16 Set counter value UINT #x1603 ENC Control #x1602 #x1600 #x1601 #x7010 1 1 Enable latch C BOOL #x7010 2 1 Enable latch extern on positive edge BOOL #x7010 3 1 Set counter BOOL #x7010 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7010 17 32 Set counter value UDINT #x1a00 Inputs #x1a01 #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 #x6000 1 8 Status USINT #x6000 2 16 Value UINT #x6000 3 16 Latch UINT #x1a01 Inputs #x1a00 #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 #x6000 1 8 Status USINT #x0 8 #x6000 2 16 Value UINT #x6000 3 16 Latch UINT #x1a02 Inputs #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 #x6000 4 32 Frequency UDINT #x6000 5 16 Period UINT #x6000 6 16 Window UINT #x1a03 ENC Status compact #x1a04 #x1a00 #x1a01 #x1a02 #x6010 1 1 Latch C valid BOOL #x6010 2 1 Latch extern valid BOOL #x6010 3 1 Set counter done BOOL #x6010 4 1 Counter underflow BOOL #x6010 5 1 Counter overflow BOOL #x6010 6 1 Status of input status BOOL #x6010 7 1 Open circuit BOOL #x6010 8 1 Extrapolation stall BOOL #x6010 9 1 Status of input A BOOL #x6010 10 1 Status of input B BOOL #x6010 11 1 Status of input C BOOL #x6010 12 1 Status of input gate BOOL #x6010 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error BOOL #x1803 7 1 TxPDO State BOOL #x1803 9 1 TxPDO Toggle BOOL #x6010 17 16 Counter value UINT #x6010 18 16 Latch value UINT #x1a04 ENC Status #x1a03 #x1a00 #x1a01 #x1a02 #x6010 1 1 Latch C valid BOOL #x6010 2 1 Latch extern valid BOOL #x6010 3 1 Set counter done BOOL #x6010 4 1 Counter underflow BOOL #x6010 5 1 Counter overflow BOOL #x6010 6 1 Status of input status BOOL #x6010 7 1 Open circuit BOOL #x6010 8 1 Extrapolation stall BOOL #x6010 9 1 Status of input A BOOL #x6010 10 1 Status of input B BOOL #x6010 11 1 Status of input C BOOL #x6010 12 1 Status of input gate BOOL #x6010 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error BOOL #x1804 7 1 TxPDO State BOOL #x1804 9 1 TxPDO Toggle BOOL #x6010 17 32 Counter value UDINT #x6010 18 32 Latch value UDINT #x1a05 ENC Frequency #x1a00 #x1a01 #x1a02 #x1a06 #x6010 19 32 Frequency value UDINT #x1a06 ENC Period #x1a00 #x1a01 #x1a02 #x1a05 #x6010 20 32 Period value UDINT #x1a07 ENC Timest. #x1a08 #x1a00 #x1a01 #x1a02 #x6010 22 64 Timestamp ULINT #x1a08 ENC Timest. compact #x1a07 #x1a00 #x1a01 #x1a02 #x6010 22 32 Timestamp DWORD Synchron FreeRun/SM-Synchron #x0 0 0 0 0 DC DC-Synchron #x320 0 0 0 0 DCIN DC-Synchron (input based) #x320 0 0 0 0 2048 050c030e00000000000000000000 0010f400f410f400 EL5101 EL5101 1Ch. Inc. Encoder 5V EL5101 1K. Inc. Encoder 5V 130 100 2000 Measuring 5001 510 5001 511 BIT2 0 BOOL 1 BYTE 8 UDINT 32 UINT 16 ULINT 64 USINT 8 ARRAY [0..13] OF BYTE BYTE 112 0 14 ARRAY [0..5] OF BYTE BYTE 48 0 6 STRING(2) 16 STRING(6) 48 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT0801EN01 BOOL 1 Fall 0 Rise 1 DT0802EN16 UINT 16 0.01Hz 100 DT0803EN16 UINT 16 100ns 100 500ns 500 DT0804EN16 UINT 16 0.01Hz 100 DT0805EN16 UINT 16 100ns 100 500ns 500 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT1400 64 0 SubIndex 000 USINT 8 0 ro o 6 Exclude RxPDOs ARRAY [0..5] OF BYTE 48 16 ro o DT1600 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1601 112 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o DT1602 240 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o DT1800 128 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..13] OF BYTE 112 16 ro o DT1803 136 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..13] OF BYTE 112 16 ro o 7 TxPDO-State BOOL 1 128 ro o T 9 TxPDO-Toggle BOOL 1 129 ro o T DT1A01 144 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o DT1A03 592 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o 14 SubIndex 014 UDINT 32 432 ro o 15 SubIndex 015 UDINT 32 464 ro o 16 SubIndex 016 UDINT 32 496 ro o 17 SubIndex 017 UDINT 32 528 ro o 18 SubIndex 018 UDINT 32 560 ro o DT1A05 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 48 16 rw o DT1C32 344 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 208 rw o 9 Delay time UDINT 32 224 ro o 11 SM event missed counter UINT 16 288 ro o 12 Cycle exceeded counter UINT 16 304 ro o 13 Shift too short counter UINT 16 320 ro o 32 Sync error BOOL 1 336 ro o DT6000 120 0 SubIndex 000 USINT 8 0 ro o 1 Status USINT 8 16 ro o T 2 Value UINT 16 24 ro o T 3 Latch UINT 16 40 ro o T 4 Frequency UDINT 32 56 ro o T 5 Period UINT 16 88 ro o T 6 Window UINT 16 104 ro o T DT6010 224 0 SubIndex 000 USINT 8 0 ro o 1 Latch C valid BOOL 1 16 ro o T 2 Latch extern valid BOOL 1 17 ro o T 3 Set counter done BOOL 1 18 ro o T 4 Counter underflow BOOL 1 19 ro o T 5 Counter overflow BOOL 1 20 ro o T 6 Status of input status BOOL 1 21 ro o T 7 Open circuit BOOL 1 22 ro o T 8 Extrapolation stall BOOL 1 23 ro o T 9 Status of input A BOOL 1 24 ro o T 10 Status of input B BOOL 1 25 ro o T 11 Status of input C BOOL 1 26 ro o T 12 Status of input gate BOOL 1 27 ro o T 13 Status of extern latch BOOL 1 28 ro o T 14 Sync Error BOOL 1 29 ro o T 15 TxPDO State BOOL 1 30 ro o T 16 TxPDO Toggle BOOL 1 31 ro o T 17 Counter value UDINT 32 32 ro o T 18 Latch value UDINT 32 64 ro o T 19 Frequency value UDINT 32 96 ro o T 20 Period value UDINT 32 128 ro o T 22 Timestamp ULINT 64 160 ro o T DT7000 40 0 SubIndex 000 USINT 8 0 ro o 1 Ctrl USINT 8 16 ro o R 2 Value UINT 16 24 ro o R DT7010 64 0 SubIndex 000 USINT 8 0 ro o 1 Enable latch C BOOL 1 16 ro o R 2 Enable latch extern on positive edge BOOL 1 17 ro o R 3 Set counter BOOL 1 18 ro o R 4 Enable latch extern on negative edge BOOL 1 19 ro o R 17 Set counter value UDINT 32 32 ro o R DT8000 24 0 SubIndex 000 USINT 8 0 ro o 1 Enable register reload BOOL 1 16 rw o 1 1 2 Enable index reset BOOL 1 17 rw o 1 1 3 Enable FWD count BOOL 1 18 rw o 1 1 4 Enable pos. gate BOOL 1 19 rw o 1 1 5 Enable neg. gate BOOL 1 20 rw o 1 1 DT8001 48 0 SubIndex 000 USINT 8 0 ro o 1 Frequency window UINT 16 16 rw o 1 1 2 Counter reload value UINT 16 32 rw o 1 1 DT8010 144 0 SubIndex 000 USINT 8 0 ro o 1 Enable C reset BOOL 1 16 rw o 1 1 2 Enable extern reset BOOL 1 17 rw o 1 1 3 Enable up/down counter BOOL 1 18 rw o 1 1 4 Gate polarity DT0800EN02 2 19 rw o 1 1 8 Disable filter BOOL 1 23 rw o 1 1 10 Enable micro increments BOOL 1 25 rw o 1 1 11 Open circuit detection A BOOL 1 26 rw o 1 1 12 Open circuit detection B BOOL 1 27 rw o 1 1 13 Open circuit detection C BOOL 1 28 rw o 1 1 14 Reversion of rotation BOOL 1 29 rw o 1 1 16 Extern reset polarity DT0801EN01 1 31 rw o 1 1 17 Frequency window UINT 16 32 rw o 1 1 19 Frequency scaling DT0802EN16 16 80 rw o 1 1 20 Period scaling DT0803EN16 16 96 rw o 1 1 21 Frequency resolution DT0804EN16 16 112 rw o 1 1 22 Period resolution DT0805EN16 16 128 rw o 1 1 DTA010 24 0 SubIndex 000 USINT 8 0 ro o 1 Open circuit A BOOL 1 16 ro o 2 Open circuit B BOOL 1 17 ro o 3 Open circuit C BOOL 1 18 ro o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 64 1 2 DTF010 80 0 SubIndex 000 USINT 8 0 rw o Elements DTF010ARR 64 16 rw o #x1000 Device type UDINT 32 89130000 ro o #x1008 Device name STRING(6) 48 454c35313031 ro o #x1009 Hardware version STRING(2) 16 3039 ro o #x100a Software version STRING(2) 16 3131 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 5230ed13 Revision 0000fa03 Serial number 00000000 ro o #x10f0 Backup parameter handling DT10F0 48 SubIndex 000 01 Checksum 00000000 ro o #x1400 RxPDO-Par Outputs DT1400 64 SubIndex 000 06 Exclude RxPDOs 011602160316 ro o #x1401 RxPDO-Par Outputs Word-Aligned DT1400 64 SubIndex 000 06 Exclude RxPDOs 001602160316 ro o #x1402 ENC RxPDO-Par Control compact DT1400 64 SubIndex 000 06 Exclude RxPDOs 031600160116 ro o #x1403 ENC RxPDO-Par Control DT1400 64 SubIndex 000 06 Exclude RxPDOs 021600160116 ro o #x1600 RxPDO-Map Outputs DT1600 80 SubIndex 000 02 SubIndex 001 08010070 SubIndex 002 10020070 ro o #x1601 RxPDO-Map Outputs Word-Aligned DT1601 112 SubIndex 000 03 SubIndex 001 08010070 SubIndex 002 08000000 SubIndex 003 10020070 ro o #x1602 ENC RxPDO-Map Control compact DT1602 240 SubIndex 000 07 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 01041070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 10111070 ro o #x1603 ENC RxPDO-Map Control DT1602 240 SubIndex 000 07 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 01041070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 20111070 ro o #x1800 TxPDO-Par Inputs DT1800 128 SubIndex 000 06 Exclude TxPDOs 011a031a041a051a061a071a081a ro o #x1801 TxPDO-Par Inputs Word-Aligned DT1800 128 SubIndex 000 06 Exclude TxPDOs 001a031a041a051a061a071a081a ro o #x1802 TxPDO-Par Inputs Optional DT1800 128 SubIndex 000 06 Exclude TxPDOs 031a041a051a061a071a081a0000 ro o #x1803 ENC TxPDO-Par Status compact DT1803 136 SubIndex 000 09 Exclude TxPDOs 041a001a011a021a000000000000 ro o #x1804 ENC TxPDO-Par Status DT1803 136 SubIndex 000 09 Exclude TxPDOs 031a001a011a021a000000000000 ro o #x1805 ENC TxPDO-Par Frequency DT1800 128 SubIndex 000 06 Exclude TxPDOs 001a011a021a061a000000000000 ro o #x1806 ENC TxPDO-Par Period DT1800 128 SubIndex 000 06 Exclude TxPDOs 001a011a021a051a000000000000 ro o #x1807 ENC TxPDO-Par Timest. DT1800 128 SubIndex 000 06 Exclude TxPDOs 081a001a011a021a000000000000 ro o #x1808 ENC TxPDO-Par Timest. compact DT1800 128 SubIndex 000 06 Exclude TxPDOs 071a001a011a021a000000000000 ro o #x1a00 TxPDO-Map Inputs DT1601 112 SubIndex 000 03 SubIndex 001 08010060 SubIndex 002 10020060 SubIndex 003 10030060 ro o #x1a01 TxPDO-Map Inputs Word-Aligned DT1A01 144 SubIndex 000 04 SubIndex 001 08010060 SubIndex 002 08000000 SubIndex 003 10020060 SubIndex 004 10030060 ro o #x1a02 TxPDO-Map Inputs Optional DT1601 112 SubIndex 000 03 SubIndex 001 20040060 SubIndex 002 10050060 SubIndex 003 10060060 ro o #x1a03 ENC TxPDO-Map Status compact DT1A03 592 SubIndex 000 12 SubIndex 001 01011060 SubIndex 002 01021060 SubIndex 003 01031060 SubIndex 004 01041060 SubIndex 005 01051060 SubIndex 006 01061060 SubIndex 007 01071060 SubIndex 008 01081060 SubIndex 009 01091060 SubIndex 010 010a1060 SubIndex 011 010b1060 SubIndex 012 010c1060 SubIndex 013 010d1060 SubIndex 014 0120321c SubIndex 015 01070318 SubIndex 016 01090318 SubIndex 017 10111060 SubIndex 018 10121060 ro o #x1a04 ENC TxPDO-Map Status DT1A03 592 SubIndex 000 12 SubIndex 001 01011060 SubIndex 002 01021060 SubIndex 003 01031060 SubIndex 004 01041060 SubIndex 005 01051060 SubIndex 006 01061060 SubIndex 007 01071060 SubIndex 008 01081060 SubIndex 009 01091060 SubIndex 010 010a1060 SubIndex 011 010b1060 SubIndex 012 010c1060 SubIndex 013 010d1060 SubIndex 014 0120321c SubIndex 015 01070418 SubIndex 016 01090418 SubIndex 017 20111060 SubIndex 018 20121060 ro o #x1a05 ENC TxPDO-Map Frequency DT1A05 48 SubIndex 000 01 SubIndex 001 20131060 ro o #x1a06 ENC TxPDO-Map Period DT1A05 48 SubIndex 000 01 SubIndex 001 20141060 ro o #x1a07 ENC TxPDO-Map Timest. DT1A05 48 SubIndex 000 01 SubIndex 001 40161060 ro o #x1a08 ENC TxPDO-Map Timest. compact DT1A05 48 SubIndex 000 01 SubIndex 001 20161060 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 32 SubIndex 000 01 SubIndex 001 0016 rw o #x1c13 TxPDO assign DT1C13 64 SubIndex 000 01 SubIndex 001 001a SubIndex 002 0000 SubIndex 003 0000 rw o #x1c32 SM output parameter DT1C32 344 SubIndex 000 20 Sync mode 0100 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time c4030100 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C32 344 SubIndex 000 20 Sync mode 2200 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time c4030100 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x6000 Inputs DT6000 120 SubIndex 000 06 Status 00 Value 0000 Latch 0000 Frequency 00000000 Period 0000 Window 0000 ro o #x6010 ENC Inputs DT6010 224 SubIndex 000 16 Latch C valid 00 Latch extern valid 00 Set counter done 00 Counter underflow 00 Counter overflow 00 Status of input status 00 Open circuit 00 Extrapolation stall 00 Status of input A 00 Status of input B 00 Status of input C 00 Status of input gate 00 Status of extern latch 00 Counter value 00000000 Latch value 00000000 Frequency value 00000000 Period value 00000000 Timestamp 0000000000000000 ro o #x7000 Outputs DT7000 40 SubIndex 000 02 Ctrl 00 Value 0000 ro o #x7010 ENC Outputs DT7010 64 SubIndex 000 11 Enable latch C 00 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 00000000 ro o #x8000 Non-Volatile Settings 0 DT8000 24 SubIndex 000 05 Enable register reload 00 Enable index reset 00 Enable FWD count 00 Enable pos. gate 01 Enable neg. gate 00 rw o #x8001 Non-Volatile Settings 1 DT8001 48 SubIndex 000 02 Frequency window 6400 Counter reload value ffff rw o #x8010 ENC Settings DT8010 144 SubIndex 000 16 Enable C reset 00 Enable extern reset 00 Enable up/down counter 00 Gate polarity 01 Disable filter 01 Enable micro increments 00 Open circuit detection A 01 Open circuit detection B 01 Open circuit detection C 00 Reversion of rotation 00 Extern reset polarity 01 Frequency window 1027 Frequency scaling 6400 Period scaling 6400 Frequency resolution 6400 Period resolution 6400 rw o #xa010 ENC Diag data DTA010 24 SubIndex 000 03 Open circuit A 00 Open circuit B 00 Open circuit C 00 ro o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0200 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Module list DTF010 80 SubIndex 000 02 SubIndex 001 fe010000 SubIndex 002 ff010000 rw o Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Outputs #x1601 #x1602 #x1603 #x7000 1 8 Ctrl USINT #x7000 2 16 Value UINT #x1601 Outputs #x1600 #x1602 #x1603 #x7000 1 8 Ctrl USINT #x0 8 #x7000 2 16 Value UINT #x1602 ENC Control compact #x1603 #x1600 #x1601 #x7010 1 1 Enable latch C BOOL #x7010 2 1 Enable latch extern on positive edge BOOL #x7010 3 1 Set counter BOOL #x7010 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7010 17 16 Set counter value UINT #x1603 ENC Control #x1602 #x1600 #x1601 #x7010 1 1 Enable latch C BOOL #x7010 2 1 Enable latch extern on positive edge BOOL #x7010 3 1 Set counter BOOL #x7010 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7010 17 32 Set counter value UDINT #x1a00 Inputs #x1a01 #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 #x6000 1 8 Status USINT #x6000 2 16 Value UINT #x6000 3 16 Latch UINT #x1a01 Inputs #x1a00 #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 #x6000 1 8 Status USINT #x0 8 #x6000 2 16 Value UINT #x6000 3 16 Latch UINT #x1a02 Inputs #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 #x6000 4 32 Frequency UDINT #x6000 5 16 Period UINT #x6000 6 16 Window UINT #x1a03 ENC Status compact #x1a04 #x1a00 #x1a01 #x1a02 #x6010 1 1 Latch C valid BOOL #x6010 2 1 Latch extern valid BOOL #x6010 3 1 Set counter done BOOL #x6010 4 1 Counter underflow BOOL #x6010 5 1 Counter overflow BOOL #x6010 6 1 Status of input status Status of Input 1 (negative switching): 1: no Error/no Input 0: Error BOOL #x6010 7 1 Open circuit If Open circuit detection is enabled: 0: no Error 1: Open Circuit detected BOOL #x6010 8 1 Extrapolation stall If Microincrements enabled TRUE: speed too slow, Microincrements = 0 FALSE: enough speed for calculation of microincrements BOOL #x6010 9 1 Status of input A BOOL #x6010 10 1 Status of input B BOOL #x6010 11 1 Status of input C BOOL #x6010 12 1 Status of input gate BOOL #x6010 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error TRUE when this TxPDO is not valid BOOL #x1803 7 1 TxPDO State TRUE when this TxPDO is not valid BOOL #x1803 9 1 TxPDO Toggle Bit toggles when new value available BOOL #x6010 17 16 Counter value UINT #x6010 18 16 Latch value UINT #x1a04 ENC Status #x1a03 #x1a00 #x1a01 #x1a02 #x6010 1 1 Latch C valid BOOL #x6010 2 1 Latch extern valid BOOL #x6010 3 1 Set counter done BOOL #x6010 4 1 Counter underflow BOOL #x6010 5 1 Counter overflow BOOL #x6010 6 1 Status of input status Status of Input 1 (negative switching): 1: no Error/no Input 0: Error BOOL #x6010 7 1 Open circuit If Open circuit detection is enabled: 0: no Error 1: Open Circuit detected BOOL #x6010 8 1 Extrapolation stall If Microincrements enabled TRUE: speed too slow, Microincrements = 0 FALSE: enough speed for calculation of microincrements BOOL #x6010 9 1 Status of input A BOOL #x6010 10 1 Status of input B BOOL #x6010 11 1 Status of input C BOOL #x6010 12 1 Status of input gate BOOL #x6010 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error TRUE when this TxPDO is not valid BOOL #x1804 7 1 TxPDO State TRUE when this TxPDO is not valid BOOL #x1804 9 1 TxPDO Toggle Bit toggles when new value available BOOL #x6010 17 32 Counter value UDINT #x6010 18 32 Latch value UDINT #x1a05 ENC Frequency #x1a00 #x1a01 #x1a02 #x1a06 #x6010 19 32 Frequency value UDINT #x1a06 ENC Period #x1a00 #x1a01 #x1a02 #x1a05 #x6010 20 32 Period value UDINT #x1a07 ENC Timest. #x1a08 #x1a00 #x1a01 #x1a02 #x6010 22 64 Timestamp ULINT #x1a08 ENC Timest. compact #x1a07 #x1a00 #x1a01 #x1a02 #x6010 22 32 Timestamp DWORD Synchron FreeRun/SM-Synchron #x0 0 0 0 0 DC DC-Synchron #x320 0 0 0 0 DCIN DC-Synchron (input based) #x320 0 -100000 0 0 2048 050c030e00000000000000000000 0010f400f410f400 EL5101 EL5101 1Ch. Inc. Encoder 5V EL5101 1K. Inc. Encoder 5V 130 100 2000 Measuring 5001 510 MDP 510 5001 511 MDP 511 BIT2 2 BOOL 1 BYTE 8 UDINT 32 UINT 16 ULINT 64 USINT 8 ARRAY [0..13] OF BYTE BYTE 112 0 14 ARRAY [0..5] OF BYTE BYTE 48 0 6 STRING(2) 16 STRING(6) 48 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT0801EN01 BOOL 1 Fall 0 Rise 1 DT0802EN16 UINT 16 0.01Hz 100 DT0803EN16 UINT 16 100ns 100 500ns 500 DT0804EN16 UINT 16 0.01Hz 100 DT0805EN16 UINT 16 100ns 100 500ns 500 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT1400 64 0 SubIndex 000 USINT 8 0 ro o 6 Exclude RxPDOs ARRAY [0..5] OF BYTE 48 16 ro o DT1600 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1601 112 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o DT1602 240 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o DT1800 128 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..13] OF BYTE 112 16 ro o DT1803 136 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..13] OF BYTE 112 16 ro o 7 TxPDO-State BOOL 1 128 ro o T 9 TxPDO-Toggle BOOL 1 129 ro o T DT1A01 144 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o DT1A03 592 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o 14 SubIndex 014 UDINT 32 432 ro o 15 SubIndex 015 UDINT 32 464 ro o 16 SubIndex 016 UDINT 32 496 ro o 17 SubIndex 017 UDINT 32 528 ro o 18 SubIndex 018 UDINT 32 560 ro o DT1A05 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 48 16 rw o DT1C32 344 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 208 rw o 9 Delay time UDINT 32 224 ro o 11 SM event missed counter UINT 16 288 ro o 12 Cycle exceeded counter UINT 16 304 ro o 13 Shift too short counter UINT 16 320 ro o 32 Sync error BOOL 1 336 ro o DT6000 120 0 SubIndex 000 USINT 8 0 ro o 1 Status USINT 8 16 ro o T 2 Value UINT 16 24 ro o T 3 Latch UINT 16 40 ro o T 4 Frequency UDINT 32 56 ro o T 5 Period UINT 16 88 ro o T 6 Window UINT 16 104 ro o T DT6010 224 0 SubIndex 000 USINT 8 0 ro o 1 Latch C valid BOOL 1 16 ro o T 2 Latch extern valid BOOL 1 17 ro o T 3 Set counter done BOOL 1 18 ro o T 4 Counter underflow BOOL 1 19 ro o T 5 Counter overflow BOOL 1 20 ro o T 6 Status of input status BOOL 1 21 ro o T 7 Open circuit BOOL 1 22 ro o T 8 Extrapolation stall BOOL 1 23 ro o T 9 Status of input A BOOL 1 24 ro o T 10 Status of input B BOOL 1 25 ro o T 11 Status of input C BOOL 1 26 ro o T 12 Status of input gate BOOL 1 27 ro o T 13 Status of extern latch BOOL 1 28 ro o T 14 Sync Error BOOL 1 29 ro o T 15 TxPDO State BOOL 1 30 ro o T 16 TxPDO Toggle BOOL 1 31 ro o T 17 Counter value UDINT 32 32 ro o T 18 Latch value UDINT 32 64 ro o T 19 Frequency value UDINT 32 96 ro o T 20 Period value UDINT 32 128 ro o T 22 Timestamp ULINT 64 160 ro o T DT7000 40 0 SubIndex 000 USINT 8 0 ro o 1 Ctrl USINT 8 16 ro o R 2 Value UINT 16 24 ro o R DT7010 64 0 SubIndex 000 USINT 8 0 ro o 1 Enable latch C BOOL 1 16 ro o R 2 Enable latch extern on positive edge BOOL 1 17 ro o R 3 Set counter BOOL 1 18 ro o R 4 Enable latch extern on negative edge BOOL 1 19 ro o R 17 Set counter value UDINT 32 32 ro o R DT8000 24 0 SubIndex 000 USINT 8 0 ro o 1 Enable register reload BOOL 1 16 rw o 1 1 2 Enable index reset BOOL 1 17 rw o 1 1 3 Enable FWD count BOOL 1 18 rw o 1 1 4 Enable pos. gate BOOL 1 19 rw o 1 1 5 Enable neg. gate BOOL 1 20 rw o 1 1 DT8001 48 0 SubIndex 000 USINT 8 0 ro o 1 Frequency window UINT 16 16 rw o 1 1 2 Counter reload value UINT 16 32 rw o 1 1 DT8010 160 0 SubIndex 000 USINT 8 0 ro o 1 Enable C reset BOOL 1 16 rw o 1 1 2 Enable extern reset BOOL 1 17 rw o 1 1 3 Enable up/down counter BOOL 1 18 rw o 1 1 4 Gate polarity DT0800EN02 2 19 rw o 1 1 8 Disable filter BOOL 1 23 rw o 1 1 10 Enable micro increments BOOL 1 25 rw o 1 1 11 Open circuit detection A BOOL 1 26 rw o 1 1 12 Open circuit detection B BOOL 1 27 rw o 1 1 13 Open circuit detection C BOOL 1 28 rw o 1 1 14 Reversion of rotation BOOL 1 29 rw o 1 1 16 Extern reset polarity DT0801EN01 1 31 rw o 1 1 17 Frequency window UINT 16 32 rw o 1 1 19 Frequency scaling DT0802EN16 16 80 rw o 1 1 20 Period scaling DT0803EN16 16 96 rw o 1 1 21 Frequency resolution DT0804EN16 16 112 rw o 1 1 22 Period resolution DT0805EN16 16 128 rw o 1 1 23 Frequency wait time UINT 16 144 rw o 1 1 DTA010 24 0 SubIndex 000 USINT 8 0 ro o 1 Open circuit A BOOL 1 16 ro o 2 Open circuit B BOOL 1 17 ro o 3 Open circuit C BOOL 1 18 ro o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 64 1 2 DTF010 80 0 SubIndex 000 USINT 8 0 rw o Elements DTF010ARR 64 16 rw o #x1000 Device type UDINT 32 89130000 ro o #x1008 Device name STRING(6) 48 454c35313031 ro o #x1009 Hardware version STRING(2) 16 3039 ro o #x100a Software version STRING(2) 16 3134 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 5230ed13 Revision 0000fb03 Serial number 00000000 ro o #x10f0 Backup parameter handling DT10F0 48 SubIndex 000 01 Checksum 00000000 ro o #x1400 RxPDO-Par Outputs DT1400 64 SubIndex 000 06 Exclude RxPDOs 011602160316 ro o #x1401 RxPDO-Par Outputs Word-Aligned DT1400 64 SubIndex 000 06 Exclude RxPDOs 001602160316 ro o #x1402 ENC RxPDO-Par Control compact DT1400 64 SubIndex 000 06 Exclude RxPDOs 031600160116 ro o #x1403 ENC RxPDO-Par Control DT1400 64 SubIndex 000 06 Exclude RxPDOs 021600160116 ro o #x1600 RxPDO-Map Outputs DT1600 80 SubIndex 000 02 SubIndex 001 08010070 SubIndex 002 10020070 ro o #x1601 RxPDO-Map Outputs Word-Aligned DT1601 112 SubIndex 000 03 SubIndex 001 08010070 SubIndex 002 08000000 SubIndex 003 10020070 ro o #x1602 ENC RxPDO-Map Control compact DT1602 240 SubIndex 000 07 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 01041070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 10111070 ro o #x1603 ENC RxPDO-Map Control DT1602 240 SubIndex 000 07 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 01041070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 20111070 ro o #x1800 TxPDO-Par Inputs DT1800 128 SubIndex 000 06 Exclude TxPDOs 011a031a041a051a061a071a081a ro o #x1801 TxPDO-Par Inputs Word-Aligned DT1800 128 SubIndex 000 06 Exclude TxPDOs 001a031a041a051a061a071a081a ro o #x1802 TxPDO-Par Inputs Optional DT1800 128 SubIndex 000 06 Exclude TxPDOs 031a041a051a061a071a081a0000 ro o #x1803 ENC TxPDO-Par Status compact DT1803 136 SubIndex 000 09 Exclude TxPDOs 041a001a011a021a000000000000 ro o #x1804 ENC TxPDO-Par Status DT1803 136 SubIndex 000 09 Exclude TxPDOs 031a001a011a021a000000000000 ro o #x1805 ENC TxPDO-Par Frequency DT1800 128 SubIndex 000 06 Exclude TxPDOs 001a011a021a061a000000000000 ro o #x1806 ENC TxPDO-Par Period DT1800 128 SubIndex 000 06 Exclude TxPDOs 001a011a021a051a000000000000 ro o #x1807 ENC TxPDO-Par Timest. DT1800 128 SubIndex 000 06 Exclude TxPDOs 081a001a011a021a000000000000 ro o #x1808 ENC TxPDO-Par Timest. compact DT1800 128 SubIndex 000 06 Exclude TxPDOs 071a001a011a021a000000000000 ro o #x1a00 TxPDO-Map Inputs DT1601 112 SubIndex 000 03 SubIndex 001 08010060 SubIndex 002 10020060 SubIndex 003 10030060 ro o #x1a01 TxPDO-Map Inputs Word-Aligned DT1A01 144 SubIndex 000 04 SubIndex 001 08010060 SubIndex 002 08000000 SubIndex 003 10020060 SubIndex 004 10030060 ro o #x1a02 TxPDO-Map Inputs Optional DT1601 112 SubIndex 000 03 SubIndex 001 20040060 SubIndex 002 10050060 SubIndex 003 10060060 ro o #x1a03 ENC TxPDO-Map Status compact DT1A03 592 SubIndex 000 12 SubIndex 001 01011060 SubIndex 002 01021060 SubIndex 003 01031060 SubIndex 004 01041060 SubIndex 005 01051060 SubIndex 006 01061060 SubIndex 007 01071060 SubIndex 008 01081060 SubIndex 009 01091060 SubIndex 010 010a1060 SubIndex 011 010b1060 SubIndex 012 010c1060 SubIndex 013 010d1060 SubIndex 014 0120321c SubIndex 015 01070318 SubIndex 016 01090318 SubIndex 017 10111060 SubIndex 018 10121060 ro o #x1a04 ENC TxPDO-Map Status DT1A03 592 SubIndex 000 12 SubIndex 001 01011060 SubIndex 002 01021060 SubIndex 003 01031060 SubIndex 004 01041060 SubIndex 005 01051060 SubIndex 006 01061060 SubIndex 007 01071060 SubIndex 008 01081060 SubIndex 009 01091060 SubIndex 010 010a1060 SubIndex 011 010b1060 SubIndex 012 010c1060 SubIndex 013 010d1060 SubIndex 014 0120321c SubIndex 015 01070418 SubIndex 016 01090418 SubIndex 017 20111060 SubIndex 018 20121060 ro o #x1a05 ENC TxPDO-Map Frequency DT1A05 48 SubIndex 000 01 SubIndex 001 20131060 ro o #x1a06 ENC TxPDO-Map Period DT1A05 48 SubIndex 000 01 SubIndex 001 20141060 ro o #x1a07 ENC TxPDO-Map Timest. DT1A05 48 SubIndex 000 01 SubIndex 001 40161060 ro o #x1a08 ENC TxPDO-Map Timest. compact DT1A05 48 SubIndex 000 01 SubIndex 001 20161060 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 32 SubIndex 000 01 SubIndex 001 0016 rw o #x1c13 TxPDO assign DT1C13 64 SubIndex 000 01 SubIndex 001 001a SubIndex 002 0000 SubIndex 003 0000 rw o #x1c32 SM output parameter DT1C32 344 SubIndex 000 20 Sync mode 0100 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time c4030100 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C32 344 SubIndex 000 20 Sync mode 2200 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time c4030100 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x6000 Inputs DT6000 120 SubIndex 000 06 Status 00 Value 0000 Latch 0000 Frequency 00000000 Period 0000 Window 0000 ro o #x6010 ENC Inputs DT6010 224 SubIndex 000 16 Latch C valid 00 Latch extern valid 00 Set counter done 00 Counter underflow 00 Counter overflow 00 Status of input status 00 Open circuit 00 Extrapolation stall 00 Status of input A 00 Status of input B 00 Status of input C 00 Status of input gate 00 Status of extern latch 00 Counter value 00000000 Latch value 00000000 Frequency value 00000000 Period value 00000000 Timestamp 0000000000000000 ro o #x7000 Outputs DT7000 40 SubIndex 000 02 Ctrl 00 Value 0000 ro o #x7010 ENC Outputs DT7010 64 SubIndex 000 11 Enable latch C 00 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 00000000 ro o #x8000 Non-Volatile Settings 0 DT8000 24 SubIndex 000 05 Enable register reload 00 Enable index reset 00 Enable FWD count 00 Enable pos. gate 01 Enable neg. gate 00 rw o #x8001 Non-Volatile Settings 1 DT8001 48 SubIndex 000 02 Frequency window 6400 Counter reload value ffff rw o #x8010 ENC Settings DT8010 160 SubIndex 000 17 Enable C reset 00 Enable extern reset 00 Enable up/down counter 00 Gate polarity 01 Disable filter 01 Enable micro increments 00 Open circuit detection A 01 Open circuit detection B 01 Open circuit detection C 00 Reversion of rotation 00 Extern reset polarity 01 Frequency window 1027 Frequency scaling 6400 Period scaling 6400 Frequency resolution 6400 Period resolution 6400 Frequency wait time #x1 #x640 #x640 rw o #xa010 ENC Diag data DTA010 24 SubIndex 000 03 Open circuit A 00 Open circuit B 00 Open circuit C 00 ro o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0200 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Module list DTF010 80 SubIndex 000 02 SubIndex 001 fe010000 SubIndex 002 ff010000 rw o Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Outputs #x1601 #x1602 #x1603 #x7000 1 8 Ctrl USINT #x7000 2 16 Value UINT #x1601 Outputs #x1600 #x1602 #x1603 #x7000 1 8 Ctrl USINT #x0 8 #x7000 2 16 Value UINT #x1602 ENC Control compact #x1603 #x1600 #x1601 #x7010 1 1 Enable latch C BOOL #x7010 2 1 Enable latch extern on positive edge BOOL #x7010 3 1 Set counter BOOL #x7010 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7010 17 16 Set counter value UINT #x1603 ENC Control #x1602 #x1600 #x1601 #x7010 1 1 Enable latch C BOOL #x7010 2 1 Enable latch extern on positive edge BOOL #x7010 3 1 Set counter BOOL #x7010 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7010 17 32 Set counter value UDINT #x1a00 Inputs #x1a01 #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 #x6000 1 8 Status USINT #x6000 2 16 Value UINT #x6000 3 16 Latch UINT #x1a01 Inputs #x1a00 #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 #x6000 1 8 Status USINT #x0 8 #x6000 2 16 Value UINT #x6000 3 16 Latch UINT #x1a02 Inputs #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 #x6000 4 32 Frequency UDINT #x6000 5 16 Period UINT #x6000 6 16 Window UINT #x1a03 ENC Status compact #x1a04 #x1a00 #x1a01 #x1a02 #x6010 1 1 Latch C valid BOOL #x6010 2 1 Latch extern valid BOOL #x6010 3 1 Set counter done BOOL #x6010 4 1 Counter underflow BOOL #x6010 5 1 Counter overflow BOOL #x6010 6 1 Status of input status BOOL #x6010 7 1 Open circuit BOOL #x6010 8 1 Extrapolation stall BOOL #x6010 9 1 Status of input A BOOL #x6010 10 1 Status of input B BOOL #x6010 11 1 Status of input C BOOL #x6010 12 1 Status of input gate BOOL #x6010 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error BOOL #x1803 7 1 TxPDO State BOOL #x1803 9 1 TxPDO Toggle BOOL #x6010 17 16 Counter value UINT #x6010 18 16 Latch value UINT #x1a04 ENC Status #x1a03 #x1a00 #x1a01 #x1a02 #x6010 1 1 Latch C valid BOOL #x6010 2 1 Latch extern valid BOOL #x6010 3 1 Set counter done BOOL #x6010 4 1 Counter underflow BOOL #x6010 5 1 Counter overflow BOOL #x6010 6 1 Status of input status BOOL #x6010 7 1 Open circuit BOOL #x6010 8 1 Extrapolation stall BOOL #x6010 9 1 Status of input A BOOL #x6010 10 1 Status of input B BOOL #x6010 11 1 Status of input C BOOL #x6010 12 1 Status of input gate BOOL #x6010 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error BOOL #x1804 7 1 TxPDO State BOOL #x1804 9 1 TxPDO Toggle BOOL #x6010 17 32 Counter value UDINT #x6010 18 32 Latch value UDINT #x1a05 ENC Frequency #x1a00 #x1a01 #x1a02 #x1a06 #x6010 19 32 Frequency value UDINT #x1a06 ENC Period #x1a00 #x1a01 #x1a02 #x1a05 #x6010 20 32 Period value UDINT #x1a07 ENC Timest. #x1a08 #x1a00 #x1a01 #x1a02 #x6010 22 64 Timestamp ULINT #x1a08 ENC Timest. compact #x1a07 #x1a00 #x1a01 #x1a02 #x6010 22 32 Timestamp DWORD Synchron FreeRun/SM-Synchron #x0 0 0 0 0 DC DC-Synchron #x320 0 0 0 0 DCIN DC-Synchron (input based) #x320 0 0 0 0 2048 050c030e00000000000000000000 0010f400f410f400 EL5151 EL5151 1Ch. Inc. Encoder EL5151 1K. Inc. Encoder 130 100 2000 Measuring 5001 511 1 BIT2 0 BOOL 1 BYTE 8 UDINT 32 UINT 16 USINT 8 ARRAY [0..1] OF BYTE BYTE 16 0 2 ARRAY [0..3] OF BYTE BYTE 32 0 4 STRING(2) 16 STRING(6) 48 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT1400 32 0 SubIndex 000 USINT 8 0 ro o 6 Exclude RxPDOs ARRAY [0..1] OF BYTE 16 16 ro o DT1600 240 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o DT1800 56 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..3] OF BYTE 32 16 ro o 9 TxPDO-Toggle BOOL 1 48 ro o DT1A00 432 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o DT1A02 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 48 16 rw o DT1C32 280 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 176 rw o 9 Delay time UDINT 32 192 ro o 11 SM event missed counter UINT 16 224 ro o 12 Cycle exceeded counter UINT 16 240 ro o 13 Shift too short counter UINT 16 256 ro o 32 Sync error BOOL 1 272 ro o DT1C33 280 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 ro o 2 Cycle time UDINT 32 32 ro o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 176 ro o 9 Delay time UDINT 32 192 ro o 11 SM event missed counter UINT 16 224 ro o 12 Cycle exceeded counter UINT 16 240 ro o 13 Shift too short counter UINT 16 256 ro o 32 Sync error BOOL 1 272 ro o DT6000 120 0 SubIndex 000 USINT 8 0 ro o 1 Latch C valid BOOL 1 16 ro o T 2 Latch extern valid BOOL 1 17 ro o T 3 Set counter done BOOL 1 18 ro o T 9 Status of input A BOOL 1 19 ro o T 10 Status of input B BOOL 1 20 ro o T 11 Status of input C BOOL 1 21 ro o T 13 Status of extern latch BOOL 1 22 ro o T 16 TxPDO Toggle BOOL 1 23 ro o T 17 Counter value UDINT 32 24 ro o T 18 Latch value UDINT 32 56 ro o T 20 Period value UDINT 32 88 ro o T DT7000 56 0 SubIndex 000 USINT 8 0 ro o 1 Enable latch C BOOL 1 16 ro o R 2 Enable latch extern on positive edge BOOL 1 17 ro o R 3 Set counter BOOL 1 18 ro o R 4 Enable latch extern on negative edge BOOL 1 19 ro o R 17 Set counter value UDINT 32 24 ro o R DT8000 24 0 SubIndex 000 USINT 8 0 ro o 3 Enable up/down counter BOOL 1 16 rw o 1 1 4 Gate polarity DT0800EN02 2 17 rw o 1 1 DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o #x1000 Device type UDINT 32 8913ff01 ro o #x1008 Device name STRING(6) 48 454c35313531 ro o #x1009 Hardware version STRING(2) 16 3030 ro o #x100a Software version STRING(2) 16 3031 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 52301f14 Revision 00001000 Serial number 00000000 ro o #x10f0 Backup parameter DT10F0 48 SubIndex 000 01 Checksum 00000000 ro o #x1400 RxPDO-Par DT1400 32 SubIndex 000 06 Exclude RxPDOs 0116 ro o #x1401 RxPDO-Par DT1400 32 SubIndex 000 06 Exclude RxPDOs 0016 ro o #x1600 RxPDO-Map DT1600 240 SubIndex 000 07 SubIndex 001 01010070 SubIndex 002 01020070 SubIndex 003 01030070 SubIndex 004 01040070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 20110070 ro o #x1601 RxPDO-Map DT1600 240 SubIndex 000 07 SubIndex 001 01010070 SubIndex 002 01020070 SubIndex 003 01030070 SubIndex 004 01040070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 10110070 ro o #x1800 TxPDO-Par DT1800 56 SubIndex 000 06 Exclude TxPDOs 011a0000 ro o #x1801 TxPDO-Par DT1800 56 SubIndex 000 06 Exclude TxPDOs 001a0000 ro o #x1a00 TxPDO-Map DT1A00 432 SubIndex 000 0d SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 05000000 SubIndex 005 01090060 SubIndex 006 010a0060 SubIndex 007 010b0060 SubIndex 008 01000000 SubIndex 009 010d0060 SubIndex 010 02000000 SubIndex 011 01090018 SubIndex 012 20110060 SubIndex 013 20120060 ro o #x1a01 TxPDO-Map DT1A00 432 SubIndex 000 0d SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 05000000 SubIndex 005 01090060 SubIndex 006 010a0060 SubIndex 007 010b0060 SubIndex 008 01000000 SubIndex 009 010d0060 SubIndex 010 02000000 SubIndex 011 01090118 SubIndex 012 10110060 SubIndex 013 10120060 ro o #x1a02 TxPDO-Map DT1A02 48 SubIndex 000 01 SubIndex 001 20141060 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 32 SubIndex 000 01 SubIndex 001 0016 rw o #x1c13 TxPDO assign DT1C13 64 SubIndex 000 01 SubIndex 001 001a SubIndex 002 0000 SubIndex 003 0000 rw o #x1c32 SM output parameter DT1C32 280 SubIndex 000 07 Sync mode 0100 Cycle time 00000000 Shift time 00000000 Sync modes supported 0780 Minimum cycle time 00000000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C33 280 SubIndex 000 07 Sync mode 2200 Cycle time 00000000 Shift time 00000000 Sync modes supported 0780 Minimum cycle time 00000000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x6000 ENC Inputs DT6000 120 SubIndex 000 14 Latch C valid 00 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input C 00 Status of extern latch 00 Counter value 00000000 Latch value 00000000 Period value 00000000 ro o #x7000 ENC Outputs DT7000 56 SubIndex 000 11 Enable latch C 00 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 00000000 ro o #x8000 ENC Settings DT8000 24 SubIndex 000 08 Enable up/down counter 00 Gate polarity 00 ro o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0100 ro o #xf008 Code word UDINT 32 00000000 rw o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 ENC Outputs #x1601 #x7000 1 1 Enable latch C BOOL #x7000 2 1 Enable latch extern on positive edge BOOL #x7000 3 1 Set counter BOOL #x7000 4 1 Enable latch extern on negative edge BOOL #x0 0 4 #x0 0 8 #x7000 17 32 Set counter value UDINT #x1601 ENC Outputs #x1600 #x7000 1 1 Enable latch C BOOL #x7000 2 1 Enable latch extern on positive edge BOOL #x7000 3 1 Set counter BOOL #x7000 4 1 Enable latch extern on negative edge BOOL #x0 0 4 #x0 0 8 #x7000 17 16 Set counter value UINT #x1a00 ENC Inputs #x1a01 #x6000 1 1 Latch C valid BOOL #x6000 2 1 Latch extern valid BOOL #x6000 3 1 Set counter done BOOL #x0 0 5 #x6000 9 1 Status of input A BOOL #x6000 10 1 Status of input B BOOL #x6000 11 1 Status of input C BOOL #x0 0 1 #x6000 13 1 Status of extern latch BOOL #x0 0 2 #x1800 9 1 TxPDO Toggle BOOL #x6000 17 32 Counter value UDINT #x6000 18 32 Latch value UDINT #x1a01 ENC Inputs #x1a00 #x6000 1 1 Latch C valid BOOL #x6000 2 1 Latch extern valid BOOL #x6000 3 1 Set counter done BOOL #x0 0 5 #x6000 9 1 Status of input A BOOL #x6000 10 1 Status of input B BOOL #x6000 11 1 Status of input C BOOL #x0 0 1 #x6000 13 1 Status of extern latch BOOL #x0 0 2 #x1801 9 1 TxPDO Toggle BOOL #x6000 17 16 Counter value UINT #x6000 18 16 Latch value UINT #x1a02 ENC Inputs #x6000 20 32 Period value UDINT 2048 0500030800000000000000000000 0010f400f410f400 EL5151 EL5151 1Ch. Inc. Encoder EL5151 1K. Inc. Encoder 130 100 2000 Measuring 5001 511 1 BIT2 0 BOOL 1 BYTE 8 UDINT 32 UINT 16 ULINT 64 USINT 8 ARRAY [0..1] OF BYTE BYTE 16 0 2 STRING(2) 16 STRING(6) 48 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT0801EN01 BOOL 1 Fall 0 Rise 1 DT0802EN16 UINT 16 0.01Hz 100 DT0803EN16 UINT 16 100ns 100 DT0804EN16 UINT 16 100ns 100 200ns 200 DT0805EN16 UINT 16 0.01Hz 100 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT1400 32 0 SubIndex 000 USINT 8 0 ro o 6 Exclude RxPDOs ARRAY [0..1] OF BYTE 16 16 ro o DT1600 240 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o DT1800 40 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..1] OF BYTE 16 16 ro o 9 TxPDO-Toggle BOOL 1 32 ro o T DT1802 32 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..1] OF BYTE 16 16 ro o DT1A00 496 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o 14 SubIndex 014 UDINT 32 432 ro o 15 SubIndex 015 UDINT 32 464 ro o DT1A02 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 48 16 rw o DT1C32 344 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 208 rw o 9 Delay time UDINT 32 224 ro o 11 SM event missed counter UINT 16 288 ro o 12 Cycle exceeded counter UINT 16 304 ro o 13 Shift too short counter UINT 16 320 ro o 32 Sync error BOOL 1 336 ro o DT6000 224 0 SubIndex 000 USINT 8 0 ro o 1 Latch C valid BOOL 1 16 ro o T 2 Latch extern valid BOOL 1 17 ro o T 3 Set counter done BOOL 1 18 ro o T 8 Extrapolation stall BOOL 1 23 ro o T 9 Status of input A BOOL 1 24 ro o T 10 Status of input B BOOL 1 25 ro o T 11 Status of input C BOOL 1 26 ro o T 13 Status of extern latch BOOL 1 28 ro o T 14 Sync Error BOOL 1 29 ro o T 16 TxPDO Toggle BOOL 1 31 ro o T 17 Counter value UDINT 32 32 ro o T 18 Latch value UDINT 32 64 ro o T 19 Frequency value UDINT 32 96 ro o T 20 Period value UDINT 32 128 ro o T 22 Timestamp ULINT 64 160 ro o T DT7000 64 0 SubIndex 000 USINT 8 0 ro o 1 Enable latch C BOOL 1 16 ro o R 2 Enable latch extern on positive edge BOOL 1 17 ro o R 3 Set counter BOOL 1 18 ro o R 4 Enable latch extern on negative edge BOOL 1 19 ro o R 17 Set counter value UDINT 32 32 ro o R DT8000 144 0 SubIndex 000 USINT 8 0 ro o 1 Enable C reset BOOL 1 16 rw o 1 1 2 Enable extern reset BOOL 1 17 rw o 1 1 3 Enable up/down counter BOOL 1 18 rw o 1 1 4 Gate polarity DT0800EN02 2 19 rw o 1 1 8 Disable filter BOOL 1 23 rw o 1 1 10 Enable micro increments BOOL 1 25 rw o 1 1 14 Reversion of rotation BOOL 1 29 rw o 1 1 16 Extern reset polarity DT0801EN01 1 31 rw o 1 1 17 Frequency window UINT 16 32 rw o 1 1 19 Frequency scaling DT0802EN16 16 80 rw o 1 1 20 Period scaling DT0803EN16 16 96 rw o 1 1 21 Frequency resolution DT0805EN16 16 112 rw o 1 1 22 Period resolution DT0804EN16 16 128 rw o 1 1 DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 32 1 1 DTF010 48 0 SubIndex 000 USINT 8 0 rw o Elements DTF010ARR 32 16 rw o #x1000 Device type UDINT 32 8913ff01 ro o #x1008 Device name STRING(6) 48 454c35313531 ro o #x1009 Hardware version STRING(2) 16 3031 ro o #x100a Software version STRING(2) 16 3032 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 52301f14 Revision 00001100 Serial number 00000000 ro o #x10f0 Backup parameter handling DT10F0 48 SubIndex 000 01 Checksum 00000000 ro o #x1400 ENC RxPDO-Par Control DT1400 32 SubIndex 000 06 Exclude RxPDOs 0116 ro o #x1401 ENC RxPDO-Par Control compact DT1400 32 SubIndex 000 06 Exclude RxPDOs 0016 ro o #x1600 ENC RxPDO-Map Control DT1600 240 SubIndex 000 07 SubIndex 001 01010070 SubIndex 002 01020070 SubIndex 003 01030070 SubIndex 004 01040070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 20110070 ro o #x1601 ENC RxPDO-Map Control compact DT1600 240 SubIndex 000 07 SubIndex 001 01010070 SubIndex 002 01020070 SubIndex 003 01030070 SubIndex 004 01040070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 10110070 ro o #x1800 ENC TxPDO-Par Status DT1800 40 SubIndex 000 09 Exclude TxPDOs 011a ro o #x1801 ENC TxPDO-Par Status compact DT1800 40 SubIndex 000 09 Exclude TxPDOs 001a ro o #x1802 ENC TxPDO-Par Period DT1802 32 SubIndex 000 06 Exclude TxPDOs 031a ro o #x1803 ENC TxPDO-Par Frequency DT1802 32 SubIndex 000 06 Exclude TxPDOs 021a ro o #x1804 ENC TxPDO-Par Timest. DT1802 32 SubIndex 000 06 Exclude TxPDOs 051a ro o #x1805 ENC TxPDO-Par Timest. compact DT1802 32 SubIndex 000 06 Exclude TxPDOs 041a ro o #x1a00 ENC TxPDO-Map Status DT1A00 496 SubIndex 000 0f SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 04000000 SubIndex 005 01080060 SubIndex 006 01090060 SubIndex 007 010a0060 SubIndex 008 010b0060 SubIndex 009 01000000 SubIndex 010 010d0060 SubIndex 011 0120321c SubIndex 012 01000000 SubIndex 013 01090018 SubIndex 014 20110060 SubIndex 015 20120060 ro o #x1a01 ENC TxPDO-Map Status compact DT1A00 496 SubIndex 000 0f SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 04000000 SubIndex 005 01080060 SubIndex 006 01090060 SubIndex 007 010a0060 SubIndex 008 010b0060 SubIndex 009 01000000 SubIndex 010 010d0060 SubIndex 011 0120321c SubIndex 012 01000000 SubIndex 013 01090118 SubIndex 014 10110060 SubIndex 015 10120060 ro o #x1a02 ENC TxPDO-Map Period DT1A02 48 SubIndex 000 01 SubIndex 001 20140060 ro o #x1a03 ENC TxPDO-Map Frequency DT1A02 48 SubIndex 000 01 SubIndex 001 20130060 ro o #x1a04 ENC TxPDO-Map Timest. DT1A02 48 SubIndex 000 01 SubIndex 001 40160060 ro o #x1a05 ENC TxPDO-Map Timest. compact DT1A02 48 SubIndex 000 01 SubIndex 001 20160060 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 32 SubIndex 000 01 SubIndex 001 0016 rw o #x1c13 TxPDO assign DT1C13 64 SubIndex 000 02 SubIndex 001 001a SubIndex 002 021a SubIndex 003 0000 rw o #x1c32 SM output parameter DT1C32 344 SubIndex 000 20 Sync mode 0100 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time 20e40000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C32 344 SubIndex 000 20 Sync mode 2200 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time 20e40000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x6000 ENC Inputs DT6000 224 SubIndex 000 16 Latch C valid 00 Latch extern valid 00 Set counter done 00 Extrapolation stall 00 Status of input A 00 Status of input B 00 Status of input C 00 Status of extern latch 00 Counter value 00000000 Latch value 00000000 Frequency value 00000000 Period value 00000000 Timestamp 0000000000000000 ro o #x7000 ENC Outputs DT7000 64 SubIndex 000 11 Enable latch C 00 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 00000000 ro o #x8000 ENC Settings DT8000 144 SubIndex 000 16 Enable C reset 00 Enable extern reset 00 Enable up/down counter 00 Gate polarity 00 Disable filter 00 Enable micro increments 00 Reversion of rotation 00 Extern reset polarity 01 Frequency window 1027 Frequency scaling 6400 Period scaling 6400 Frequency resolution 6400 Period resolution c800 rw o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0100 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Module list DTF010 48 SubIndex 000 01 SubIndex 001 ff010000 rw o Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 ENC Outputs #x1601 #x7000 1 1 Enable latch C BOOL #x7000 2 1 Enable latch extern on positive edge BOOL #x7000 3 1 Set counter BOOL #x7000 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7000 17 32 Set counter value UDINT #x1601 ENC Outputs #x1600 #x7000 1 1 Enable latch C BOOL #x7000 2 1 Enable latch extern on positive edge BOOL #x7000 3 1 Set counter BOOL #x7000 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7000 17 16 Set counter value UINT #x1a00 ENC Inputs #x1a01 #x6000 1 1 Latch C valid BOOL #x6000 2 1 Latch extern valid BOOL #x6000 3 1 Set counter done BOOL #x0 4 #x6000 8 1 Extrapolation stall BOOL #x6000 9 1 Status of input A BOOL #x6000 10 1 Status of input B BOOL #x6000 11 1 Status of input C BOOL #x0 1 #x6000 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error BOOL #x0 1 #x1800 9 1 TxPDO Toggle BOOL #x6000 17 32 Counter value UDINT #x6000 18 32 Latch value UDINT #x1a01 ENC Inputs #x1a00 #x6000 1 1 Latch C valid BOOL #x6000 2 1 Latch extern valid BOOL #x6000 3 1 Set counter done BOOL #x0 4 #x6000 8 1 Extrapolation stall BOOL #x6000 9 1 Status of input A BOOL #x6000 10 1 Status of input B BOOL #x6000 11 1 Status of input C BOOL #x0 1 #x6000 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error BOOL #x0 1 #x1801 9 1 TxPDO Toggle BOOL #x6000 17 16 Counter value UINT #x6000 18 16 Latch value UINT #x1a02 ENC Inputs #x1a03 #x6000 20 32 Period value UDINT #x1a03 ENC Inputs #x1a02 #x6000 19 32 Frequency value UDINT #x1a04 ENC Inputs #x1a05 #x6000 22 64 Timestamp ULINT #x1a05 ENC Inputs #x1a04 #x6000 22 32 Timestamp DWORD Synchron FreeRun/SM-Synchron #x0 0 0 0 0 DC DC-Synchron #x320 0 0 0 0 DCIN DC-Synchron (input based) #x320 0 0 0 0 2048 0500030e00000000000000000000 0010f400f410f400 EL5151 EL5151 1Ch. Inc. Encoder EL5151 1K. Inc. Encoder 130 100 2000 Measuring 5001 511 1 BIT2 2 BOOL 1 BYTE 8 UDINT 32 UINT 16 ULINT 64 USINT 8 ARRAY [0..1] OF BYTE BYTE 16 0 2 STRING(2) 16 STRING(6) 48 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT0801EN01 BOOL 1 Fall 0 Rise 1 DT0802EN16 UINT 16 0.01Hz 100 DT0803EN16 UINT 16 100ns 100 DT0804EN16 UINT 16 100ns 100 200ns 200 DT0805EN16 UINT 16 0.01Hz 100 DT0806EN01 BOOL 1 1µs 0 1ms 1 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT1400 32 0 SubIndex 000 USINT 8 0 ro o 6 Exclude RxPDOs ARRAY [0..1] OF BYTE 16 16 ro o DT1600 240 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o DT1800 40 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..1] OF BYTE 16 16 ro o 9 TxPDO-Toggle BOOL 1 32 ro o T DT1802 32 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..1] OF BYTE 16 16 ro o DT1A00 496 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o 14 SubIndex 014 UDINT 32 432 ro o 15 SubIndex 015 UDINT 32 464 ro o DT1A02 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 48 16 rw o DT1C32 344 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 208 rw o 9 Delay time UDINT 32 224 ro o 11 SM event missed counter UINT 16 288 ro o 12 Cycle exceeded counter UINT 16 304 ro o 13 Shift too short counter UINT 16 320 ro o 32 Sync error BOOL 1 336 ro o DT6000 224 0 SubIndex 000 USINT 8 0 ro o 1 Latch C valid BOOL 1 16 ro o T 2 Latch extern valid BOOL 1 17 ro o T 3 Set counter done BOOL 1 18 ro o T 8 Extrapolation stall BOOL 1 23 ro o T 9 Status of input A BOOL 1 24 ro o T 10 Status of input B BOOL 1 25 ro o T 11 Status of input C BOOL 1 26 ro o T 13 Status of extern latch BOOL 1 28 ro o T 14 Sync Error BOOL 1 29 ro o T 16 TxPDO Toggle BOOL 1 31 ro o T 17 Counter value UDINT 32 32 ro o T 18 Latch value UDINT 32 64 ro o T 19 Frequency value UDINT 32 96 ro o T 20 Period value UDINT 32 128 ro o T 22 Timestamp ULINT 64 160 ro o T DT7000 64 0 SubIndex 000 USINT 8 0 ro o 1 Enable latch C BOOL 1 16 ro o R 2 Enable latch extern on positive edge BOOL 1 17 ro o R 3 Set counter BOOL 1 18 ro o R 4 Enable latch extern on negative edge BOOL 1 19 ro o R 17 Set counter value UDINT 32 32 ro o R DT8000 144 0 SubIndex 000 USINT 8 0 ro o 1 Enable C reset BOOL 1 16 rw o 1 1 2 Enable extern reset BOOL 1 17 rw o 1 1 3 Enable up/down counter BOOL 1 18 rw o 1 1 4 Gate polarity DT0800EN02 2 19 rw o 1 1 8 Disable filter BOOL 1 23 rw o 1 1 10 Enable micro increments BOOL 1 25 rw o 1 1 14 Reversion of rotation BOOL 1 29 rw o 1 1 15 Frequency window base DT0806EN01 1 30 rw o 1 1 16 Extern reset polarity DT0801EN01 1 31 rw o 1 1 17 Frequency window UINT 16 32 rw o 1 1 19 Frequency scaling DT0802EN16 16 80 rw o 1 1 20 Period scaling DT0803EN16 16 96 rw o 1 1 21 Frequency resolution DT0805EN16 16 112 rw o 1 1 22 Period resolution DT0804EN16 16 128 rw o 1 1 DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 32 1 1 DTF010 48 0 SubIndex 000 USINT 8 0 rw o Elements DTF010ARR 32 16 rw o #x1000 Device type UDINT 32 8913ff01 ro o #x1008 Device name STRING(6) 48 454c35313531 ro o #x1009 Hardware version STRING(2) 16 3031 ro o #x100a Software version STRING(2) 16 3035 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 52301f14 Revision 00001200 Serial number 00000000 ro o #x10f0 Backup parameter handling DT10F0 48 SubIndex 000 01 Checksum 00000000 ro o #x1400 ENC RxPDO-Par Control DT1400 32 SubIndex 000 06 Exclude RxPDOs 0116 ro o #x1401 ENC RxPDO-Par Control compact DT1400 32 SubIndex 000 06 Exclude RxPDOs 0016 ro o #x1600 ENC RxPDO-Map Control DT1600 240 SubIndex 000 07 SubIndex 001 01010070 SubIndex 002 01020070 SubIndex 003 01030070 SubIndex 004 01040070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 20110070 ro o #x1601 ENC RxPDO-Map Control compact DT1600 240 SubIndex 000 07 SubIndex 001 01010070 SubIndex 002 01020070 SubIndex 003 01030070 SubIndex 004 01040070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 10110070 ro o #x1800 ENC TxPDO-Par Status DT1800 40 SubIndex 000 09 Exclude TxPDOs 011a ro o #x1801 ENC TxPDO-Par Status compact DT1800 40 SubIndex 000 09 Exclude TxPDOs 001a ro o #x1802 ENC TxPDO-Par Period DT1802 32 SubIndex 000 06 Exclude TxPDOs 031a ro o #x1803 ENC TxPDO-Par Frequency DT1802 32 SubIndex 000 06 Exclude TxPDOs 021a ro o #x1804 ENC TxPDO-Par Timest. DT1802 32 SubIndex 000 06 Exclude TxPDOs 051a ro o #x1805 ENC TxPDO-Par Timest. compact DT1802 32 SubIndex 000 06 Exclude TxPDOs 041a ro o #x1a00 ENC TxPDO-Map Status DT1A00 496 SubIndex 000 0f SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 04000000 SubIndex 005 01080060 SubIndex 006 01090060 SubIndex 007 010a0060 SubIndex 008 010b0060 SubIndex 009 01000000 SubIndex 010 010d0060 SubIndex 011 0120321c SubIndex 012 01000000 SubIndex 013 01090018 SubIndex 014 20110060 SubIndex 015 20120060 ro o #x1a01 ENC TxPDO-Map Status compact DT1A00 496 SubIndex 000 0f SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 04000000 SubIndex 005 01080060 SubIndex 006 01090060 SubIndex 007 010a0060 SubIndex 008 010b0060 SubIndex 009 01000000 SubIndex 010 010d0060 SubIndex 011 0120321c SubIndex 012 01000000 SubIndex 013 01090118 SubIndex 014 10110060 SubIndex 015 10120060 ro o #x1a02 ENC TxPDO-Map Period DT1A02 48 SubIndex 000 01 SubIndex 001 20140060 ro o #x1a03 ENC TxPDO-Map Frequency DT1A02 48 SubIndex 000 01 SubIndex 001 20130060 ro o #x1a04 ENC TxPDO-Map Timest. DT1A02 48 SubIndex 000 01 SubIndex 001 40160060 ro o #x1a05 ENC TxPDO-Map Timest. compact DT1A02 48 SubIndex 000 01 SubIndex 001 20160060 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 32 SubIndex 000 01 SubIndex 001 0016 rw o #x1c13 TxPDO assign DT1C13 64 SubIndex 000 02 SubIndex 001 001a SubIndex 002 021a SubIndex 003 0000 rw o #x1c32 SM output parameter DT1C32 344 SubIndex 000 20 Sync mode 0100 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time dce60000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C32 344 SubIndex 000 20 Sync mode 2200 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time dce60000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x6000 ENC Inputs DT6000 224 SubIndex 000 16 Latch C valid 00 Latch extern valid 00 Set counter done 00 Extrapolation stall 00 Status of input A 00 Status of input B 00 Status of input C 00 Status of extern latch 00 Counter value 00000000 Latch value 00000000 Frequency value 00000000 Period value 00000000 Timestamp 0000000000000000 ro o #x7000 ENC Outputs DT7000 64 SubIndex 000 11 Enable latch C 00 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 00000000 ro o #x8000 ENC Settings DT8000 144 SubIndex 000 16 Enable C reset 00 Enable extern reset 00 Enable up/down counter 00 Gate polarity 00 Disable filter 00 Enable micro increments 00 Reversion of rotation 00 Frequency window base 00 Extern reset polarity 01 Frequency window 1027 Frequency scaling 6400 Period scaling 6400 Frequency resolution 6400 Period resolution c800 rw o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0100 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Module list DTF010 48 SubIndex 000 01 SubIndex 001 ff010000 rw o Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 ENC Outputs #x1601 #x7000 1 1 Enable latch C BOOL #x7000 2 1 Enable latch extern on positive edge BOOL #x7000 3 1 Set counter BOOL #x7000 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7000 17 32 Set counter value UDINT #x1601 ENC Outputs #x1600 #x7000 1 1 Enable latch C BOOL #x7000 2 1 Enable latch extern on positive edge BOOL #x7000 3 1 Set counter BOOL #x7000 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7000 17 16 Set counter value UINT #x1a00 ENC Inputs #x1a01 #x6000 1 1 Latch C valid BOOL #x6000 2 1 Latch extern valid BOOL #x6000 3 1 Set counter done BOOL #x0 4 #x6000 8 1 Extrapolation stall If Microincrements enabled TRUE: speed too slow, Microincrements = 0 FALSE: enough speed for calculation of microincrements BOOL #x6000 9 1 Status of input A BOOL #x6000 10 1 Status of input B BOOL #x6000 11 1 Status of input C BOOL #x0 1 #x6000 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error TRUE when this TxPDO is not valid BOOL #x0 1 #x1800 9 1 TxPDO Toggle Bit toggles when new value available BOOL #x6000 17 32 Counter value UDINT #x6000 18 32 Latch value UDINT #x1a01 ENC Inputs #x1a00 #x6000 1 1 Latch C valid BOOL #x6000 2 1 Latch extern valid BOOL #x6000 3 1 Set counter done BOOL #x0 4 #x6000 8 1 Extrapolation stall If Microincrements enabled TRUE: speed too slow, Microincrements = 0 FALSE: enough speed for calculation of microincrements BOOL #x6000 9 1 Status of input A BOOL #x6000 10 1 Status of input B BOOL #x6000 11 1 Status of input C BOOL #x0 1 #x6000 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error TRUE when this TxPDO is not valid BOOL #x0 1 #x1801 9 1 TxPDO Toggle Bit toggles when new value available BOOL #x6000 17 16 Counter value UINT #x6000 18 16 Latch value UINT #x1a02 ENC Inputs #x1a03 #x6000 20 32 Period value UDINT #x1a03 ENC Inputs #x1a02 #x6000 19 32 Frequency value UDINT #x1a04 ENC Inputs #x1a05 #x6000 22 64 Timestamp ULINT #x1a05 ENC Inputs #x1a04 #x6000 22 32 Timestamp DWORD Synchron FreeRun/SM-Synchron #x0 0 0 0 0 DC DC-Synchron #x320 0 0 0 0 DCIN DC-Synchron (input based) #x320 0 0 0 0 2048 0500030e00000000000000000000 0010f400f410f400 EL5151 EL5151 1Ch. Inc. Encoder EL5151 1K. Inc. Encoder 130 100 2000 Measuring 5001 511 1 BIT2 2 BOOL 1 BYTE 8 UDINT 32 UINT 16 ULINT 64 USINT 8 ARRAY [0..1] OF BYTE BYTE 16 0 2 STRING(2) 16 STRING(6) 48 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT0801EN01 BOOL 1 Fall 0 Rise 1 DT0802EN16 UINT 16 0.01Hz 100 DT0803EN16 UINT 16 100ns 100 DT0804EN16 UINT 16 100ns 100 200ns 200 DT0805EN16 UINT 16 0.01Hz 100 DT0806EN01 BOOL 1 1µs 0 1ms 1 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT1400 32 0 SubIndex 000 USINT 8 0 ro o 6 Exclude RxPDOs ARRAY [0..1] OF BYTE 16 16 ro o DT1600 240 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o DT1800 40 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..1] OF BYTE 16 16 ro o 9 TxPDO-Toggle BOOL 1 32 ro o T DT1802 32 0 SubIndex 000 USINT 8 0 ro o 6 Exclude TxPDOs ARRAY [0..1] OF BYTE 16 16 ro o DT1A00 496 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o 14 SubIndex 014 UDINT 32 432 ro o 15 SubIndex 015 UDINT 32 464 ro o DT1A02 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 48 16 rw o DT1C32 344 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 208 rw o 9 Delay time UDINT 32 224 ro o 11 SM event missed counter UINT 16 288 ro o 12 Cycle exceeded counter UINT 16 304 ro o 13 Shift too short counter UINT 16 320 ro o 32 Sync error BOOL 1 336 ro o DT6000 224 0 SubIndex 000 USINT 8 0 ro o 1 Latch C valid BOOL 1 16 ro o T 2 Latch extern valid BOOL 1 17 ro o T 3 Set counter done BOOL 1 18 ro o T 8 Extrapolation stall BOOL 1 23 ro o T 9 Status of input A BOOL 1 24 ro o T 10 Status of input B BOOL 1 25 ro o T 11 Status of input C BOOL 1 26 ro o T 13 Status of extern latch BOOL 1 28 ro o T 14 Sync Error BOOL 1 29 ro o T 16 TxPDO Toggle BOOL 1 31 ro o T 17 Counter value UDINT 32 32 ro o T 18 Latch value UDINT 32 64 ro o T 19 Frequency value UDINT 32 96 ro o T 20 Period value UDINT 32 128 ro o T 22 Timestamp ULINT 64 160 ro o T DT7000 64 0 SubIndex 000 USINT 8 0 ro o 1 Enable latch C BOOL 1 16 ro o R 2 Enable latch extern on positive edge BOOL 1 17 ro o R 3 Set counter BOOL 1 18 ro o R 4 Enable latch extern on negative edge BOOL 1 19 ro o R 17 Set counter value UDINT 32 32 ro o R DT8000 160 0 SubIndex 000 USINT 8 0 ro o 1 Enable C reset BOOL 1 16 rw o 1 1 2 Enable extern reset BOOL 1 17 rw o 1 1 3 Enable up/down counter BOOL 1 18 rw o 1 1 4 Gate polarity DT0800EN02 2 19 rw o 1 1 8 Disable filter BOOL 1 23 rw o 1 1 10 Enable micro increments BOOL 1 25 rw o 1 1 14 Reversion of rotation BOOL 1 29 rw o 1 1 15 Frequency window base DT0806EN01 1 30 rw o 1 1 16 Extern reset polarity DT0801EN01 1 31 rw o 1 1 17 Frequency window UINT 16 32 rw o 1 1 19 Frequency scaling DT0802EN16 16 80 rw o 1 1 20 Period scaling DT0803EN16 16 96 rw o 1 1 21 Frequency resolution DT0805EN16 16 112 rw o 1 1 22 Period resolution DT0804EN16 16 128 rw o 1 1 23 Frequency wait time UINT 16 144 rw o 1 1 DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 32 1 1 DTF010 48 0 SubIndex 000 USINT 8 0 rw o Elements DTF010ARR 32 16 rw o #x1000 Device type UDINT 32 8913ff01 ro o #x1008 Device name STRING(6) 48 454c35313531 ro o #x1009 Hardware version STRING(2) 16 3031 ro o #x100a Software version STRING(2) 16 3036 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 52301f14 Revision 00001300 Serial number 00000000 ro o #x10f0 Backup parameter handling DT10F0 48 SubIndex 000 01 Checksum 00000000 ro o #x1400 ENC RxPDO-Par Control DT1400 32 SubIndex 000 06 Exclude RxPDOs 0116 ro o #x1401 ENC RxPDO-Par Control compact DT1400 32 SubIndex 000 06 Exclude RxPDOs 0016 ro o #x1600 ENC RxPDO-Map Control DT1600 240 SubIndex 000 07 SubIndex 001 01010070 SubIndex 002 01020070 SubIndex 003 01030070 SubIndex 004 01040070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 20110070 ro o #x1601 ENC RxPDO-Map Control compact DT1600 240 SubIndex 000 07 SubIndex 001 01010070 SubIndex 002 01020070 SubIndex 003 01030070 SubIndex 004 01040070 SubIndex 005 04000000 SubIndex 006 08000000 SubIndex 007 10110070 ro o #x1800 ENC TxPDO-Par Status DT1800 40 SubIndex 000 09 Exclude TxPDOs 011a ro o #x1801 ENC TxPDO-Par Status compact DT1800 40 SubIndex 000 09 Exclude TxPDOs 001a ro o #x1802 ENC TxPDO-Par Period DT1802 32 SubIndex 000 06 Exclude TxPDOs 031a ro o #x1803 ENC TxPDO-Par Frequency DT1802 32 SubIndex 000 06 Exclude TxPDOs 021a ro o #x1804 ENC TxPDO-Par Timest. DT1802 32 SubIndex 000 06 Exclude TxPDOs 051a ro o #x1805 ENC TxPDO-Par Timest. compact DT1802 32 SubIndex 000 06 Exclude TxPDOs 041a ro o #x1a00 ENC TxPDO-Map Status DT1A00 496 SubIndex 000 0f SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 04000000 SubIndex 005 01080060 SubIndex 006 01090060 SubIndex 007 010a0060 SubIndex 008 010b0060 SubIndex 009 01000000 SubIndex 010 010d0060 SubIndex 011 0120321c SubIndex 012 01000000 SubIndex 013 01090018 SubIndex 014 20110060 SubIndex 015 20120060 ro o #x1a01 ENC TxPDO-Map Status compact DT1A00 496 SubIndex 000 0f SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 04000000 SubIndex 005 01080060 SubIndex 006 01090060 SubIndex 007 010a0060 SubIndex 008 010b0060 SubIndex 009 01000000 SubIndex 010 010d0060 SubIndex 011 0120321c SubIndex 012 01000000 SubIndex 013 01090118 SubIndex 014 10110060 SubIndex 015 10120060 ro o #x1a02 ENC TxPDO-Map Period DT1A02 48 SubIndex 000 01 SubIndex 001 20140060 ro o #x1a03 ENC TxPDO-Map Frequency DT1A02 48 SubIndex 000 01 SubIndex 001 20130060 ro o #x1a04 ENC TxPDO-Map Timest. DT1A02 48 SubIndex 000 01 SubIndex 001 40160060 ro o #x1a05 ENC TxPDO-Map Timest. compact DT1A02 48 SubIndex 000 01 SubIndex 001 20160060 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 32 SubIndex 000 01 SubIndex 001 0016 rw o #x1c13 TxPDO assign DT1C13 64 SubIndex 000 02 SubIndex 001 001a SubIndex 002 021a SubIndex 003 0000 rw o #x1c32 SM output parameter DT1C32 344 SubIndex 000 20 Sync mode 0100 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time dce60000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C32 344 SubIndex 000 20 Sync mode 2200 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time dce60000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x6000 ENC Inputs DT6000 224 SubIndex 000 16 Latch C valid 00 Latch extern valid 00 Set counter done 00 Extrapolation stall 00 Status of input A 00 Status of input B 00 Status of input C 00 Status of extern latch 00 Counter value 00000000 Latch value 00000000 Frequency value 00000000 Period value 00000000 Timestamp 0000000000000000 ro o #x7000 ENC Outputs DT7000 64 SubIndex 000 11 Enable latch C 00 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 00000000 ro o #x8000 ENC Settings DT8000 160 SubIndex 000 17 Enable C reset 00 Enable extern reset 00 Enable up/down counter 00 Gate polarity 00 Disable filter 00 Enable micro increments 00 Reversion of rotation 00 Frequency window base 00 Extern reset polarity 01 Frequency window 1027 Frequency scaling 6400 Period scaling 6400 Frequency resolution 6400 Period resolution c800 Frequency wait time #x1 #x640 #x640 rw o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0100 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Module list DTF010 48 SubIndex 000 01 SubIndex 001 ff010000 rw o Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 ENC Outputs #x1601 #x7000 1 1 Enable latch C BOOL #x7000 2 1 Enable latch extern on positive edge BOOL #x7000 3 1 Set counter BOOL #x7000 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7000 17 32 Set counter value UDINT #x1601 ENC Outputs #x1600 #x7000 1 1 Enable latch C BOOL #x7000 2 1 Enable latch extern on positive edge BOOL #x7000 3 1 Set counter BOOL #x7000 4 1 Enable latch extern on negative edge BOOL #x0 4 #x0 8 #x7000 17 16 Set counter value UINT #x1a00 ENC Inputs #x1a01 #x6000 1 1 Latch C valid BOOL #x6000 2 1 Latch extern valid BOOL #x6000 3 1 Set counter done BOOL #x0 4 #x6000 8 1 Extrapolation stall BOOL #x6000 9 1 Status of input A BOOL #x6000 10 1 Status of input B BOOL #x6000 11 1 Status of input C BOOL #x0 1 #x6000 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error BOOL #x0 1 #x1800 9 1 TxPDO Toggle BOOL #x6000 17 32 Counter value UDINT #x6000 18 32 Latch value UDINT #x1a01 ENC Inputs #x1a00 #x6000 1 1 Latch C valid BOOL #x6000 2 1 Latch extern valid BOOL #x6000 3 1 Set counter done BOOL #x0 4 #x6000 8 1 Extrapolation stall BOOL #x6000 9 1 Status of input A BOOL #x6000 10 1 Status of input B BOOL #x6000 11 1 Status of input C BOOL #x0 1 #x6000 13 1 Status of extern latch BOOL #x1c32 32 1 Sync Error BOOL #x0 1 #x1801 9 1 TxPDO Toggle BOOL #x6000 17 16 Counter value UINT #x6000 18 16 Latch value UINT #x1a02 ENC Inputs #x1a03 #x6000 20 32 Period value UDINT #x1a03 ENC Inputs #x1a02 #x6000 19 32 Frequency value UDINT #x1a04 ENC Inputs #x1a05 #x6000 22 64 Timestamp ULINT #x1a05 ENC Inputs #x1a04 #x6000 22 32 Timestamp DWORD Synchron FreeRun/SM-Synchron #x0 0 0 0 0 DC DC-Synchron #x320 0 0 0 0 DCIN DC-Synchron (input based) #x320 0 0 0 0 2048 0500030e00000000000000000000 0010f400f410f400