Beckhoff EL6731, Documentation

Page: 147 / 188

EtherCAT communication EL6731-00x0
EL6731 147 Version: 2.8
Index 1A82 DPM TxPDO-Map PDO Toggle
Index (hex) Name Meaning Data type Flags Default
1A82:0 DPM TxPDO-Map
PDO Toggle For each configured DP slave there is a bit in this PDO
that toggles every time new DP input data has been re-
ceived from the DP slave and updated in the EtherCAT
input data. This PDO is optional. UINT8 RO
1A82:01 PDO toggle of the first configured DP slave (configured
via the objects 0x800z) UINT32 RO
...
1A82:m PDO toggle of the last (m
th
) configured DP slave (config-
ured via the objects (m-1)*16 (1 <= m <= 127))
UINT32 RO
Index 1A83 DPM TxPDO-Map DP Status
Index (hex) Name Meaning Data type Flags Default
1A83:0 DPM TxPDO-Map DP
Status In this PDO there is a byte for each configured DP slave
that contains the communication state (object
0xF102
[ } 157] ) to the DP slave. This PDO is optional.
UINT8 RO Number of
configured DP
slaves
1A83:01 Node state of the first configured DP slave (configured
via the objects 0x800z) UINT32 RO 0xF102:01,8
...
1A83:m Node state of the last (m
th
) configured DP slave (config-
ured via the objects (m-1)*16 (1 <= m <= 127))
UINT32 RO 0xF102:m,8
Index 1A84 DPM TxPDO-Map DP Diag
Index (hex) Name Meaning Data type Flags Default
1A84:0 DPM TxPDO-Map DP
Diag In this PDO there is a bit for each configured DP slave
that is set if the diagnostic information (object 0xF103)
has changed. This PDO is optional. UINT8 RO Number of
configured DP
slaves
1A84:01 Diag Flag of the first configured DP slave (configured via
the objects 0x800z) UINT32 RO 0xF103:01,1
...
1A84:FF Diag Flag of the last (m
th
) configured DP slave (config-
ured via the objects (m-1)*16 (1 <= m <= 127))
UINT32 RO 0xF103:m,1
Index 1A85 DPM TxPDO-Map DP-Master Diag
Index (hex) Name Meaning Data type Flags Default
1A85:0 DPM TxPDO-Map
DP-Master Diag PDO Mapping TxPDO 134 contains the DP master status
(object
0xF101 [ } 156] )
UINT8 RW 0x0D (13
dec
)
1A85:01 SubIndex 001 1
st
PDO Mapping entry (object 0xF101 (DP Master Status
data), entry 0x01 (Bus Error Counter))
UINT32 RW 0xF101:01, 16
1A85:02 SubIndex 002 2
nd
PDO Mapping entry (object 0xF101 (DP Master Sta-
tus data), entry 0x02 (Cycle Counter))
UINT32 RW 0xF101:02, 16
1A85:03 SubIndex 003 3
rd
PDO Mapping entry (object 0xF101 (DP Master Sta-
tus data), entry 0x03 (Slave Status Counter))
UINT32 RW 0xF101:03, 16
1A85:04 SubIndex 004 4
th
PDO Mapping entry (object 0xF101 (DP Master Sta-
tus data), entry 0x04 (Cycle Time))
UINT32 RW 0xF101:04, 16
1A85:05 SubIndex 005 5
th
PDO Mapping entry (object 0xF101 (DP Master Sta-
tus data), entry 0x05 (Repeat Counter))
UINT32 RW 0xF101:05, 16
1A85:06 SubIndex 006 6
th
PDO Mapping entry (16 bits align) UINT32 RW 0x0000:00, 16
1A85:07 SubIndex 007 7
th
PDO Mapping entry (16 bits align) UINT32 RW 0x0000:00, 16
1A85:08 SubIndex 008 8
th
PDO Mapping entry (8 bits align) UINT32 RW 0x0000:00, 8
1A85:09 SubIndex 009 9
th
PDO Mapping entry (4 bits align) UINT32 RW 0x0000:00, 4
1A85:0A SubIndex 010 10
th
PDO Mapping entry (object 0xF101 (DP Master Sta-
tus data), entry 0x14 (Device Diag))
UINT32 RW 0xF101:14, 1
1A85:0B SubIndex 011 11
th
PDO Mapping entry (object 0xF101 (DP Master Sta-
tus data), entry 0x15 (Sync Error))
UINT32 RW 0xF101:15, 1
1A85:0C SubIndex 012 12 th PDO Mapping entry (object 0xF101 (DP Master Sta-
tus data), entry 0x16 (Cycle Toggle))
UINT32 RW 0xF101:16, 1
1A85:0D SubIndex 013 13
th
PDO Mapping entry (object 0xF101 (DP Master Sta-
tus data), entry 0x17 (Cycle State))
UINT32 RW 0xF101:17, 1