Beckhoff EL6751, Documentation

Page: 135 / 210

Parameterization and commissioning
EL6751 135 Version: 3.5
Index 1888 TxPDO-Par CAN TxPDO Toggle 1
Index (hex) Name Meaning Data type Flags Default
1888:0 TxPDO-Par CAN Tx-
PDO Toggle 1 PDO parameter TxPDO 137 UINT8 RO 0x06 (6
dec
)
1888:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)
that must not be transferred together with TxPDO 137 OCTET-
STRING[14] RO 80 1A 00 00
00 00 00 00
00 00 00 00
00 00
Index 1889 TxPDO-Par CAN TxPDO Toggle 2
Index (hex) Name Meaning Data type Flags Default
1889:0 TxPDO-Par CAN Tx-
PDO Toggle 2 PDO parameter TxPDO 138 UINT8 RO 0x06 (6
dec
)
1889:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)
that must not be transferred together with TxPDO 138 OCTET-
STRING[14] RO 80 1A 00 00
00 00 00 00
00 00 00 00
00 00
Index 1A00-1A7E TxPDO-Map Node yyy
Index (hex) Name Meaning Data type Flags Default
1A00+n:0 TxPDO-Map Node
yyy For each configured CANopen slave there is one Tx-
PDO, which contains all CAN TxPDOs of the CANopen
slave. The CAN TxPDOs written in object
0x8006
[ } 145] + (n*16) are located in the TxPDO mapping object
n. If a CANopen slave contains no CAN TxP-
DOs, then neither object
0x8006 [ } 145] +16*n nor the
PDO mapping object n exist. These PDOs are
mandatory and must always be contained in the PDO As-
sign object
0x1C13 [
}
139] , depending on the configured
CANopen slaves. SubIndex 0 contains the number of
CAN RxPDOs of the (n+1)
th
configured CANopen slave.
The TxPDO mapping objects 0x1A00-0x1A7E can be
written in order to change the order of the CAN TxPDOs
of a configured CANopen slave within its EtherCAT Tx-
PDO. If a TxPDO mapping object of the EtherCAT TxP-
DOs 1-127 is written, then all PDO mapping objects of
the EtherCAT TxPDOs 1-127 and the EtherCAT RxPDOs
1-127 must always be written.
UINT8 RW
(1A00+n):01 first mapped CAN TxPDO of the (n+1)
th
configured
CANopen slave
UINT32 RW
...
(1A00+n):m last mapped CAN TxPDO of the (n+1)
th
configured
CANopen slave
UINT32 RW
Index 1A81 TxPDO-Map PDO State
Index (hex) Name Meaning Data type Flags Default
1A81:0 TxPDO-Map PDO
State In this PDO there is a bit for each configured CANopen
slave that is set if the CAN communication to the
CANopen slave is not OK (a more detailed error cause
can be found in
0xF102 [
}
151] :m for the m
th
configured
CANopen slave). If the bit is set, the data of the associ-
ated TxPDO m is to be ignored. This PDO is optional.
UINT8 RO Number of
configured
CANopen
slaves
1A81:01 PDO state of the first configured CANopen slave (config-
ured via the objects 0x800z) UINT32 RO 0x1800:07, 1
...
1A81:m PDO state of the last (m
th
) configured CANopen slave
(configured via the objects (m-1)*16 (1 <= m <=
127))
UINT32 RO (m-1)
:07, 1