Beckhoff EL6751, Documentation

Page: 133 / 210

Parameterization and commissioning
EL6751 133 Version: 3.5
Index 10F2 Backup parameter storage
Index 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 EL6751 with Backup Parameter Storage
[
}
126] ). The EL6751 is rebooted 5 s after the flashing of
the Backup Parameter Storage (switches to INIT with AL
status code = 0x60). The data have the following mean-
ing:
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 1600-167E RxPDO-Map Node yyy
Index (hex) Name Meaning Data type Flags Default
1600+n:0 RxPDO-Map Node
yyy For each configured CANopen slave there is one Rx-
PDO, which contains all CAN RxPDOs of the CANopen
slave. The CAN RxPDOs written in object
0x8008
[ } 146] + (n*16) are located in the RxPDO mapping object
n. If a CANopen slave contains no CAN RxP-
DOs, then neither object
0x8008 [
}
146] +16*n nor the
PDO mapping object n exist. These PDOs are
mandatory and must always be contained in the PDO As-
sign object
0x1C12 [
}
139] , depending on the configured
CANopen slaves. SubIndex 0 contains the number of
CAN RxPDOs of the (n+1)
th
configured CANopen slave.
The RxPDO mapping objects 0x1600-0x167E can be
written in order to change the order of the CAN RxPDOs
of a configured CANopen slave within its EtherCAT Rx-
PDO. If a RxPDO mapping object of the EtherCAT RxP-
DOs 1-127 is written, then all PDO mapping objects of
the EtherCAT RxPDOs 1-127 and the EtherCAT TxPDOs
1-127 must always be written.
UINT8 RW
(1600+n):01 first mapped CAN RxPDO of the (n+1)
th
configured
CANopen slave
UINT32 RW
... ..
(1600+n):m last mapped CAN RxPDO of the (n+1)
th
configured
CANopen slave
UINT32 RW