Beckhoff EL6731, Documentation

Page: 167 / 188

EtherCAT communication EL6731-00x0
EL6731 167 Version: 2.8
Index 1A00 DPS TxPDO-Map Slave
Index (hex) Name Meaning Data type Flags Default
1A00:0 DPS TxPDO-Map
Slave This TxPDO contains the DP output data of the DP slave
that were received by the DP master. There is an entry in
the TxPDO mapping object 0x1A00 for each DP module
with DP output data configured in object
0x8002 [
}
170] .
If the DP slave does not contain any DP output data,
then the PDO mapping object 0x1A00 does not exist.
This PDO is mandatory and must always be contained in
the PDO Assign object
0x1C13 [ } 167] . SubIndex 0 con-
tains the number of DP modules with DP output data of
the DP slave.
UINT8 RO
1A00:01 first DP module with DP output data of the DP slave UINT32 RO
... ..
1A00:m last DP module with DP output data of the DP slave UINT32 RO
Index 1A7F TxPDO-Map Status PDO
Index (hex) Name Meaning Data type Flags Default
1A7F:0 TxPDO-Map Status
PDO This PDO contains the status information of the DP slave
(object
0xF100 [
}
171] )
UINT8 RO 4
1A7F:01 1
st
PDO Mapping entry (object 0xF100 (DP Status), entry
0x01 (DP Communication Status))
UINT32 RO 0xF100:01, 08
1A7F:02 2
nd
PDO Mapping entry (6 Bit Align) UINT32 RO 0x0000:00, 06
1A7F:03 3
rd
PDO Mapping entry (object 0xF100 (DP Status), entry
0x0F (TxPDO State))
UINT32 RO 0xF100:0F, 01
1A7F:04 4
th
PDO Mapping entry (object 0x1800 (TxPDO-Par Sta-
tus PDO), entry 0x09 (TxPDO Toggle))
UINT32 RO 0x1800:09, 01
Index 1C00 Sync manager type
Index (hex) Name Meaning Data type Flags Default
1C00:0 Sync manager type Using the sync managers UINT8 RO 0x04 (4
dec
)
1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1
dec
)
1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2
dec
)
1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write
(Outputs) UINT8 RO 0x03 (3
dec
)
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-
puts) UINT8 RO 0x04 (4
dec
)
Index 1C12 RxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign PDO Assign Outputs: if the DP slave has DP inputs that
are sent to the DP master, then the RxPDO Assign con-
tains the RxPDO 0x1600, otherwise it is empty
(SubIndex 0 = 0) UINT8 RW 0x01 (1
dec
)
1C12:01 1
st
assigned RxPDO (index 0x1600) UINT16 RW 0x1600
(5632
dec
)
Index 1C13 TxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs: if the DP slave has DP outputs that
are received by the DP master, then the TxPDO Assign
contains the TxPDOs 0x1A00 and 0x1A7F, otherwise
only the TxPDO 0x1A7F UINT8 RW 0x02 (2
dec
)
1C13:01 1
st
assigned TxPDO (index 0x1A00) UINT16 RW 0x1A00
(6656
dec
)
1C13:02 2
nd
assigned TxPDO (index 0x1A7F) UINT16 RW 0x1A7F
(6783
dec
)