STOBER 10 | Appendix
02/2020 | ID 443025.06
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10 Appendix
10.1 Supported communication objects
10.1.1 ETG.1000.6 EtherCAT specification: 1000 hex – 1FFF hex
The following table includes the supported communication objects for the standardized profile ETG.1000.6 EtherCAT
specification – CANopen over EtherCAT (CoE) Communication Area as well as how the objects are mapped to the
corresponding parameters of STOBER.
Index Subindex TxPDO RxPDO Name Comment
1000 hex 0 hex — — Device type Constant value 20192 hex
Bit 0 – 15: Device profile
number, 192 hex = 402
Bit 16 – 23: Type, 2 Hex = Servo
drive
Bit 24 – 31: Reserved
1001 hex 0 hex — — Error register
1600 hex 1st RxPDO mapping parameter
1600 hex 0 hex — ✓ Number of mapped application
objects in RxPDO
Constant value of 24
1600 hex 1 hex – 24 hex — ✓ Application objects A225[0] - A225[23]
1601 hex 2nd RxPDO mapping parameter
1601 hex 0 hex — ✓ Number of mapped application
objects in RxPDO
Constant value of 24
1601 hex 1 hex – 24 hex — ✓ Application objects A226[0] - A225[23]
1602 hex 3rd RxPDO mapping parameter
1602 hex 0 hex — ✓ Number of mapped application
objects in RxPDO
Constant value of 24
1602 hex 1 hex – 24 hex — ✓ Application objects A227[0] - A227[23]
1603 hex 4th RxPDO mapping parameter
1603 hex 0 hex — — Number of mapped application
objects in RxPDO
Constant value of 24
1603 hex 1 hex – 24 hex — — Application objects A228[0] - A228[23]
1A00 hex 1st TxPDO mapping parameter
1A00 hex 0 hex — ✓ Number of mapped application
objects in TxPDO
Constant value of 24
1A00 hex 1 hex – 24 hex — ✓ Application objects A233[0] - A233[23]
1A01 hex 2nd TxPDO mapping parameter
1A01 hex 0 hex — ✓ Number of mapped application
objects in TxPDO
Constant value of 24
1A01 hex 1 hex – 24 hex — ✓ Application objects A234[0] - A234[23]
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