10
EtherCAT
®
Communication Protocol Manual
– p/n 20021549-001 Rev. B
the parameter is only writable in PREOP state. No state restriction indicates the
parameter access is valid for PREOP, SAFEOP, and OP states.
Name
Name of Object / Object Parameter
Description
More info about Object / Object Parameter
8
Object Dictionary Data Types
Data types are described in ETG.1020. The data types the 392 uses are reproduced here for convenience.
Table 9: Relevant Data Types
Name
Bit Length
Description
ARRAY [0..n] OF BYTE (n+1)*8
Array of bytes with length n
BOOL
1
0: False
1: True
UDINT
32
Unsigned Integer
UINT
16
Unsigned Integer
ULINT
64
Unsigned Integer
USINT
8
Unsigned Integer
PDO MAPPING
32
16-bits Index, 8-bits Sub-index, 8-bits Bit Size
For example: 0x60120101 is Index 0x6012, Sub-Index 0x01,
length 1-bit
REAL
32
IEEE-754 encoded floating-point value
STRING(n)
(n+1)*8
8-bit encoded ASCII string n-characters long terminated by the
”null character” 0x00
pad_n
n
n - Bits of padding
