Beckhoff EL6731, Documentation

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EtherCAT communication EL6731-00x0
EL6731 169 Version: 2.8
6.2.2.2 Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Index 6000 Input Data
Index (hex) Name Meaning Data type Flags Default
6000:0 Input Data This object contains the DP output data of the DP slave
(data are received by the DP master ). There is an entry
in the object 0x6000 for each DP module with DP output
data configured in object
0x8002 [ } 170] . DP module m
thereby corresponds to SubIndex m; if a DP module does
not contain any DP output data, then this SubIndex does
not exist. If the DP slave does not contain any DP output
data, then object 0x6000 does not exist. SubIndex 0 con-
tains the number of DP modules of the DP slave.
UINT8 RO
6000:01 if the first DP module has DP output data: DP output data
of the first DP module OCTET-
STRING RO
...
6000:m if the m
th
DP module has DP output data: DP output data
of the m
th
DP module
OCTET-
STRING RO
Index 7000 Output Data
Index (hex) Name Meaning Data type Flags Default
7000:0 Output Data This object contains the DP input data of the DP slave
(data are sent to the DP master). There is an entry in ob-
ject 0x7000 for each DP module with DP input data con-
figured in object
0x8002 [ } 170] . DP module m thereby
corresponds to SubIndex m; if a DP module does not
contain any DP input data, then this SubIndex does not
exist. If the DP slave does not contain any DP input data,
then object 0x7000 does not exist. SubIndex 0 contains
the number of DP modules of the DP slave.
UINT8 RO
7000:01 if the first DP module has DP input data: DP input data of
the first DP module OCTET-
STRING RO
...
7000:m if the m
th
DP module has DP input data: DP input data of
the m
th
DP module
OCTET-
STRING RO