Beckhoff EL6731, Documentation

Page: 166 / 188

EtherCAT communication EL6731-00x0
EL6731 166 Version: 2.8
Index 10F2 Backup parameter storage
Index (hex) Name Meaning Data type Flags Default
10F2:0 Backup parameter
storage If this object is used, no StartUp SDOs may be transmit-
ted in the PREOP state, since the Backup Parameter
Storage contains the complete StartUp SDOs (see Con-
figuration of the EL6731-0010 with Backup Parameter
Storage). The EL6731-0010 is rebooted 5s after the
flashing of the Backup Parameter Storage (switches to
INIT with AL status code = 0x60). The data have the fol-
lowing meaning: OCTET-
STRING[n] RW
Word-Offset Description
0 Command: with 0xC0DE, the received data
are stored in the flash memory
1 Length of the data from word offset 4 in
bytes
2-3 Checksum, which is calculated locally
4 Index of the object of the 1
st
StartUp SDO
5 len1: Length of the object of the 1
st
StartUp
SDO as CompleteAccess (from SubIndex
0) in bytes
6-n1 Data of the object of the 1
st
StartUp SDO as
CompleteAccess (n1 = 2*((len1+1)/2)+5)
n1+1 Index of the object of the 2
nd
StartUp SDO
n1+2 len2: Length of the object of the 2
nd
StartUp
SDO as CompleteAccess (from SubIndex
0) in bytes
(n1+3)-n2 Data of the object of the 2
nd
StartUp SDO
as CompleteAccess (n2 =
2*((len2+1)/2)+n1+2)
...
m Index of the object of the 3
rd
StartUp SDO
m+1 len3: Length of the object of the 3
rd
StartUp
SDO as CompleteAccess (from SubIndex
0) in bytes
(m+2)-n3 Data of the object of the 3
rd
StartUp SDO
as CompleteAccess (n3 = 2*((len3+1)/2)+m
+1)
Index 1600 DPS RxPDO-Map Slave
Index (hex) Name Meaning Data type Flags Default
1600:0 DPS RxPDO-Map
Slave This RxPDO contains the DP input data of the DP slave,
which are sent to the DP master. There is an entry in the
RxPDO mapping object 0x1600 for each DP module with
DP input data configured in object
0x8002 [ } 170] . If the
DP slave does not contain any DP input data, then the
PDO mapping object 0x1600 does not exist. This PDO is
mandatory and must always be contained in the PDO As-
sign object
0x1C12 [
}
167] . SubIndex 0 contains the
number of DP modules with DP input data of the DP
slave.
UINT8 RO
1600:01 first DP module with DP input data of the DP slave UINT32 RO
... ..
1600:m last DP module with DP input data of the DP slave UINT32 RO
Index 187F TxPDO-Par Status PDO
Index (hex) Name Meaning Data type Flags Default
187F:0 TxPDO-Par Status
PDO PDO parameter TxPDO 129 UINT8 RO 0x06 (6
dec
)
187F:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)
that must not be transferred together with TxPDO 128 OCTET-
STRING[10] RO 80 1A 00 00
00 00 00 00
00 00
187F:07 TxPDO State The TxPDO state is set if the DP slave is not exchanging
data BOOLEAN RO
187F:09 TxPDO Toggle The TxPDO toggle becomes BOOLEAN RO