Parameterization and commissioning
EL6751
120
Version: 3.5
Peer-to-peer objects
Object
Function with I/O de-
vices
Function
code
Resulting COB ID hex / dec
Object for communication
Parameter / mapping
Emergency Status / error
1
0x81 - 0xFF/ 129 - 255
- / -
PDO1 (tx)
dig. inputs
11
0x181 - 0x1FF / 385 - 511
0x1800 / 0x1A00
PDO1 (rx)
digital outputs
100
0x201 - 0x27F/ 513-639
0x1400 / 0x1600
PDO2 (tx)
analog inputs
101
0x281 - 0x2FF/ 641-767
0x1801 / 0x1A01
PDO2 (rx)
analog outputs
110
0x301 - 0x37F/ 769-895
0x1401 / 0x1601
PDO3 (tx)
analog inputs*
111
0x381 - 0x3FF / 897 - 1023
0x1802 / 0x1A02
PDO3 (rx)
analog outputs*
1000
0x401 - 0x47F/ 1025 - 1151
0x1402 / 0x1602
PDO4 (tx)
analog inputs*
1001
0x481 - 0x4FF/ 1153 - 1279
0x1803 / 0x1A03
PDO4 (rx)
analog outputs*
1010
0x501 - 0x57F/ 1281 - 1407
0x1403 / 0x1603
SDO (tx)
Parameter
1011
0x581 - 0x5FF/ 1409-1535
- / -
SDO (rx)
Parameter
1100
0x601 - 0x67F/ 1537-1663
- / -
Guarding
Life and node
guarding,
heartbeat,
boot-up message
1110
0x701 - 0x77F/ 1793-1919
(0x100C, 0x100D, 0x100E,
0x1016, 0x1017)
* For historical reasons, the Beckhoff default mapping applies to PDOs 3 and 4 in Beckhoff I/O devices. In
most configurations, PDOs 3 and 4 contain data related to analog inputs and outputs, but there can also be
"excess" data from digital I/Os, or data from special terminals. Details may be found in the Bus Coupler
documentation.
Up until version 3 of the CANopen specification, default identifiers were assigned to 2 PDOs at a time. The
Beckhoff Bus Couplers up to firmware status BA correspond to this issue of the specification. After firmware
status C0 (CANopen version 4), default identifiers are provided for up to 4 PDOs.
5.4.9
Firmware versions
• By default, the EL6751 does not start transmitting the RxPDOs until one second after sending the
Startup NMT message to a CANopen node. This function can be deactivated in the "Advanced
Settings" (see fig.). In this case, immediately after the startup NMT message, the EL6751 starts
sending the RxPDo for that node.
