EtherCAT ESI Data for LinuxCNC

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Beckhoff ELM3144-0000

Type:
ELM3144-0000
Description:
ELM3144-0000 4Ch. Ana. Input +/-10V, +/-20mA, 24 bit, high precision
Vendor
Beckhoff Automation GmbH & Co. KG
Documentation
http://www.beckhoff.com/ELM3144

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 2 revision(s) of this hardware. Here are the known revisions and their differences.

This also includes the send and receive PDOs defined for each revision, and a link to other known devices with identical PDOs.

Revision 
r16
 
r17
Name 
ELM3144-0000 4Ch. Ana. Input +/-10V, +/-20mA, 24 bit, high precision
PID 
0x50217689
Revision Code 
0x00100000
 
0x00110000
Equivalant Devices
TX PDOs 
0x1a00: PAI Status Channel 1
 
  0x6000:01  Status__No of Samples           USINT (8 bits)
 
  0x6000:09  Status__Error                   BOOL
 
  0x6000:0a  Status__Underrange              BOOL
 
  0x6000:0b  Status__Overrange               BOOL
 
  0x6000:0d  Status__Diag                    BOOL
 
  0x6000:0e  Status__TxPDO State             BOOL
 
  0x6000:0f  Status__Input cycle counter     BIT2 (2 bits)
 
0x1a01: PAI Samples 1 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
0x1a02: PAI Samples 2 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
0x1a03: PAI Samples 4 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
0x1a04: PAI Samples 5 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
0x1a05: PAI Samples 8 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6001:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6001:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6001:08  Samples__ARRAY [7]              DINT (32 bits)
 
0x1a06: PAI Samples 10 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6001:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6001:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6001:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6001:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6001:0a  Samples__ARRAY [9]              DINT (32 bits)
 
0x1a07: PAI Samples 16 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6001:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6001:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6001:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6001:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6001:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6001:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6001:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6001:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6001:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6001:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6001:10  Samples__ARRAY [15]             DINT (32 bits)
 
0x1a08: PAI Samples 20 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6001:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6001:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6001:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6001:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6001:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6001:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6001:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6001:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6001:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6001:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6001:10  Samples__ARRAY [15]             DINT (32 bits)
 
  0x6001:11  Samples__ARRAY [16]             DINT (32 bits)
 
  0x6001:12  Samples__ARRAY [17]             DINT (32 bits)
 
  0x6001:13  Samples__ARRAY [18]             DINT (32 bits)
 
  0x6001:14  Samples__ARRAY [19]             DINT (32 bits)
 
0x1a09: PAI Timestamp Channel 1
 
  0x6005:01  StartTimeNextLatch__Low         UDINT (32 bits)
 
  0x6005:02  StartTimeNextLatch__Hi          UDINT (32 bits)
 
0x1a0a: PAI Synchronous Oversampling Channel 1
 
  0x6006:01  SM-Synchron__Internal Buffer    UINT (16 bits)
 
0x1a0b: PAI Status Channel 2
 
  0x6010:01  Status__No of Samples           USINT (8 bits)
 
  0x6010:09  Status__Error                   BOOL
 
  0x6010:0a  Status__Underrange              BOOL
 
  0x6010:0b  Status__Overrange               BOOL
 
  0x6010:0d  Status__Diag                    BOOL
 
  0x6010:0e  Status__TxPDO State             BOOL
 
  0x6010:0f  Status__Input cycle counter     BIT2 (2 bits)
 
0x1a0c: PAI Samples 1 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
0x1a0d: PAI Samples 2 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
0x1a0e: PAI Samples 4 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
0x1a0f: PAI Samples 5 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
0x1a10: PAI Samples 8 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6011:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6011:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6011:08  Samples__ARRAY [7]              DINT (32 bits)
 
0x1a11: PAI Samples 10 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6011:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6011:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6011:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6011:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6011:0a  Samples__ARRAY [9]              DINT (32 bits)
 
0x1a12: PAI Samples 16 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6011:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6011:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6011:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6011:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6011:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6011:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6011:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6011:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6011:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6011:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6011:10  Samples__ARRAY [15]             DINT (32 bits)
 
0x1a13: PAI Samples 20 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6011:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6011:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6011:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6011:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6011:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6011:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6011:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6011:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6011:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6011:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6011:10  Samples__ARRAY [15]             DINT (32 bits)
 
  0x6011:11  Samples__ARRAY [16]             DINT (32 bits)
 
  0x6011:12  Samples__ARRAY [17]             DINT (32 bits)
 
  0x6011:13  Samples__ARRAY [18]             DINT (32 bits)
 
  0x6011:14  Samples__ARRAY [19]             DINT (32 bits)
 
0x1a14: PAI Timestamp Channel 2
 
  0x6015:01  StartTimeNextLatch__Low         UDINT (32 bits)
 
  0x6015:02  StartTimeNextLatch__Hi          UDINT (32 bits)
 
0x1a15: PAI Synchronous Oversampling Channel 2
 
  0x6016:01  SM-Synchron__Internal Buffer    UINT (16 bits)
 
0x1a16: PAI Status Channel 3
 
  0x6020:01  Status__No of Samples           USINT (8 bits)
 
  0x6020:09  Status__Error                   BOOL
 
  0x6020:0a  Status__Underrange              BOOL
 
  0x6020:0b  Status__Overrange               BOOL
 
  0x6020:0d  Status__Diag                    BOOL
 
  0x6020:0e  Status__TxPDO State             BOOL
 
  0x6020:0f  Status__Input cycle counter     BIT2 (2 bits)
 
0x1a17: PAI Samples 1 Channel 3
 
  0x6021:01  Samples__ARRAY [0]              DINT (32 bits)
 
0x1a18: PAI Samples 2 Channel 3
 
  0x6021:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6021:02  Samples__ARRAY [1]              DINT (32 bits)
 
0x1a19: PAI Samples 4 Channel 3
 
  0x6021:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6021:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6021:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6021:04  Samples__ARRAY [3]              DINT (32 bits)
 
0x1a1a: PAI Samples 5 Channel 3
 
  0x6021:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6021:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6021:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6021:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6021:05  Samples__ARRAY [4]              DINT (32 bits)
 
0x1a1b: PAI Samples 8 Channel 3
 
  0x6021:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6021:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6021:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6021:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6021:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6021:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6021:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6021:08  Samples__ARRAY [7]              DINT (32 bits)
 
0x1a1c: PAI Samples 10 Channel 3
 
  0x6021:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6021:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6021:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6021:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6021:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6021:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6021:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6021:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6021:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6021:0a  Samples__ARRAY [9]              DINT (32 bits)
 
0x1a1d: PAI Samples 16 Channel 3
 
  0x6021:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6021:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6021:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6021:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6021:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6021:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6021:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6021:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6021:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6021:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6021:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6021:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6021:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6021:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6021:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6021:10  Samples__ARRAY [15]             DINT (32 bits)
 
0x1a1e: PAI Samples 20 Channel 3
 
  0x6021:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6021:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6021:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6021:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6021:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6021:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6021:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6021:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6021:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6021:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6021:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6021:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6021:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6021:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6021:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6021:10  Samples__ARRAY [15]             DINT (32 bits)
 
  0x6021:11  Samples__ARRAY [16]             DINT (32 bits)
 
  0x6021:12  Samples__ARRAY [17]             DINT (32 bits)
 
  0x6021:13  Samples__ARRAY [18]             DINT (32 bits)
 
  0x6021:14  Samples__ARRAY [19]             DINT (32 bits)
 
0x1a1f: PAI Timestamp Channel 3
 
  0x6025:01  StartTimeNextLatch__Low         UDINT (32 bits)
 
  0x6025:02  StartTimeNextLatch__Hi          UDINT (32 bits)
 
0x1a20: PAI Synchronous Oversampling Channel 3
 
  0x6026:01  SM-Synchron__Internal Buffer    UINT (16 bits)
 
0x1a21: PAI Status Channel 4
 
  0x6030:01  Status__No of Samples           USINT (8 bits)
 
  0x6030:09  Status__Error                   BOOL
 
  0x6030:0a  Status__Underrange              BOOL
 
  0x6030:0b  Status__Overrange               BOOL
 
  0x6030:0d  Status__Diag                    BOOL
 
  0x6030:0e  Status__TxPDO State             BOOL
 
  0x6030:0f  Status__Input cycle counter     BIT2 (2 bits)
 
0x1a22: PAI Samples 1 Channel 4
 
  0x6031:01  Samples__ARRAY [0]              DINT (32 bits)
 
0x1a23: PAI Samples 2 Channel 4
 
  0x6031:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6031:02  Samples__ARRAY [1]              DINT (32 bits)
 
0x1a24: PAI Samples 4 Channel 4
 
  0x6031:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6031:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6031:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6031:04  Samples__ARRAY [3]              DINT (32 bits)
 
0x1a25: PAI Samples 5 Channel 4
 
  0x6031:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6031:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6031:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6031:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6031:05  Samples__ARRAY [4]              DINT (32 bits)
 
0x1a26: PAI Samples 8 Channel 4
 
  0x6031:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6031:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6031:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6031:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6031:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6031:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6031:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6031:08  Samples__ARRAY [7]              DINT (32 bits)
 
0x1a27: PAI Samples 10 Channel 4
 
  0x6031:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6031:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6031:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6031:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6031:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6031:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6031:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6031:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6031:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6031:0a  Samples__ARRAY [9]              DINT (32 bits)
 
0x1a28: PAI Samples 16 Channel 4
 
  0x6031:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6031:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6031:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6031:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6031:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6031:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6031:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6031:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6031:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6031:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6031:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6031:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6031:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6031:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6031:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6031:10  Samples__ARRAY [15]             DINT (32 bits)
 
0x1a29: PAI Samples 20 Channel 4
 
  0x6031:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6031:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6031:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6031:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6031:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6031:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6031:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6031:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6031:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6031:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6031:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6031:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6031:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6031:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6031:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6031:10  Samples__ARRAY [15]             DINT (32 bits)
 
  0x6031:11  Samples__ARRAY [16]             DINT (32 bits)
 
  0x6031:12  Samples__ARRAY [17]             DINT (32 bits)
 
  0x6031:13  Samples__ARRAY [18]             DINT (32 bits)
 
  0x6031:14  Samples__ARRAY [19]             DINT (32 bits)
 
0x1a2a: PAI Timestamp Channel 4
 
  0x6035:01  StartTimeNextLatch__Low         UDINT (32 bits)
 
  0x6035:02  StartTimeNextLatch__Hi          UDINT (32 bits)
 
0x1a2b: PAI Synchronous Oversampling Channel 4
 
  0x6036:01  SM-Synchron__Internal Buffer    UINT (16 bits)
RX PDOs 
0x1600: PAI Control Channel 1
 
  0x7000:01  Control__Integrator Reset       BOOL
 
  0x7000:02  Control__Peak Hold Reset        BOOL
 
0x1601: PAI Control Channel 2
 
  0x7010:01  Control__Integrator Reset       BOOL
 
  0x7010:02  Control__Peak Hold Reset        BOOL
 
0x1602: PAI Control Channel 3
 
  0x7020:01  Control__Integrator Reset       BOOL
 
  0x7020:02  Control__Peak Hold Reset        BOOL
 
0x1603: PAI Control Channel 4
 
  0x7030:01  Control__Integrator Reset       BOOL
 
  0x7030:02  Control__Peak Hold Reset        BOOL