Beckhoff EL6731, Documentation

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EtherCAT communication EL6731-00x0
EL6731 171 Version: 2.8
Index F000 Modular device profile
Index (hex) Name Meaning Data type Flags Default
F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2
dec
)
F000:01 Module index dis-
tance Index distance of the objects of the individual channels UINT16 RO 0x0010 (16
dec
)
F000:02 Maximum number of
modules Number of channels UINT16 RO 0x0001 (1
dec
)
Index F100 DP Status
Index (hex) Name Meaning Data type Flags Default
F100:0 DP Status This object contains the DP status data, which are
mapped into TxPDO 128 (Index
0x1A7F [ } 167] )
UINT8 RO
F100:01 DP Communication
Status 0 Slave is exchanging data UINT8 RO
128 Slave is ready for data exchange
129 Slave is waiting for the ChkCfg telegram
130 Slave is waiting for the SetPrm telegram
F100:0E Sync Error this is set if a synchronization error occurred in the pre-
ceding cycle in Distributed Clocks mode BOOLEAN RO
F100:10 TxPDO State this is set if the DP slave is not exchanging data BOOLEAN RO
F100:0F TxPDO Toggle this toggles if new DP outputs received by the DP master
have been entered in the EtherCAT input buffer for the
first time after an EtherCAT input update. BOOLEAN RO