AXL E EC DI16 M12 6P

8541_en_03

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20

13.2

AL Status Code Register

If the state transition requested by the master is not possible, then the slave sets an error flag in the AL status register (bit 4)

and writes an error code to the AL status code register.

14

Process data

14.1

TxPDO Mapping Digital Inputs

Key:

14.2

TxPDO Mapping IO Status

AL status code (hex)

Description

State or transition

Resulting state

0000

No error

Any

Current state

0001

Unspecified error

Any

Any + E

0011

Invalid requested state change

I→S, I→O, P→O

O→B, S→B, P→B

Current state + E

0012

Unknown requested state

Any

Current state + E

0015

Invalid Mailbox Configuration for Bootstrap

I→BI + E

0016

Invalid Mailbox Configuration for Pre-Opera-

tional State

I→PI + E

0017

Invalid Sync Manager Configuration

P→S, S→O

Current state + E

001B

Sync Manager Watchdog

O, S

S + E

001D

Invalid output configuration

O, S

P→S

S + E

P + E

001E

Invalid input configuration

O, S, P→SP + E

Input process data

Byte

Byte 0

Byte 1

Bit

765

43

210

76

543

21

0

IN

07

06

05

04

03

02

01

00

17

16

15

14

13

12

11

10

Connection

X04

X03

X02

X01

X08

X07

X06

X05

Pin

242

42

424

24

242

42

4

DI

8

7

6

5

4

3

2

1

16

15

14

13

12

11

10

9

Bit:

Process data assignment

IN:

LED marking

DI:

Input of the device

Bit 31 ... bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Reserved

Supply of the module electronics and sensors (U

Reserved

Reserved

Undervoltage

Overload

Reserved