Beckhoff EL6751, Documentation, Page: 138 / 210

Parameterization and commissioning
EL6751 138 Version: 3.5
Index 1A85 TxPDO-Map CAN Status
Index (hex) Name Meaning Data type Flags Default
1A85:0 TxPDO-Map CAN sta-
tus
This PDO contains the CAN status (object 0xF108
[ } 152] ) and is optional
UINT8 RO 0x0B (11
dec
)
1A85:01 SubIndex 001 1. PDO Mapping entry (object 0xF108 (CAN Status), en-
try 0x01 (Bus-Off)) UINT32 RO 0xF108:01, 1
1A85:02 SubIndex 002 2. PDO Mapping entry (object 0xF108 (CAN Status), en-
try 0x02 (warning limit reached)) UINT32 RO 0xF108:02, 1
1A85:03 SubIndex 003 3. PDO Mapping entry (object 0xF108 (CAN Status), en-
try 0x03 (RX overflow)) UINT32 RO 0xF108:03, 1
1A85:04 SubIndex 004 4. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A85:05 SubIndex 005 5. PDO Mapping entry (object 0xF108 (CAN Status), en-
try 0x05 (TX overflow)) UINT32 RO 0xF108:05, 1
1A85:06 SubIndex 006 6. PDO Mapping entry (object 0xF108 (CAN Status), en-
try 0x06 (Ack error)) UINT32 RO 0xF108:06, 1
1A85:07 SubIndex 007 7. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
1A85:08 SubIndex 008 8. PDO Mapping entry (8 bits align) UINT32 RO 0x0000:00, 8
1A85:09 SubIndex 009 9. PDO Mapping entry (16 bits align) UINT32 RO 0x0000:00, 16
1A85:0A SubIndex 010 10. PDO Mapping entry (object 0xF108 (CAN Status),
entry 0x21 (RX error counter)) UINT32 RO 0xF108:21, 8
1A85:0B SubIndex 011 11. PDO Mapping entry (object 0xF108 (CAN Status),
entry 0x22 (TX error counter)) UINT32 RO 0xF108:22, 8
Index 1A88 TxPDO-Map CAN TxPDO Toggle 1
Index (hex) Name Meaning Data type Flags Default
1A88:0 TxPDO-Map CAN Tx-
PDO Toggle 1 This PDO can contain a toggle bit for each CAN TxPDO.
Whether the toggle bit of a CAN TxPDO is mapped into
this PDO depends on the setting in the respective Tx-
PDO configuration object
0x8nn6 [
}
145] . This PDO is
optional
UINT8 RO
1A88:01 first CAN TxPDO toggle bit UINT32 RO
...
1A88:n n
th
CAN TxPDO toggle bit (if no more than 255 CAN Tx-
PDO toggle bits are mapped, this is also the last CAN
TxPDO toggle bit)
UINT32 RO
Index 1A89 TxPDO-Map CAN TxPDO Toggle 2
Index (hex) Name Meaning Data type Flags Default
1A89:0 TxPDO-Map CAN Tx-
PDO Toggle 2 If more than 255 CAN TxPDO toggle bits are mapped,
the additional CAN TxPDO toggle bits are contained here UINT8 RO 0x00 (0
dec
)
1A89:01 (n+1)
th
CAN TxPDO toggle bit
...
1A89:m m
th
CAN TxPDO toggle bit
Index 1C00 Sync manager type
Index (hex) Name Meaning Data type Flags Default
1C00:0 Sync manager type Using the sync managers UINT8 RO 0x04 (4
dec
)
1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1
dec
)
1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2
dec
)
1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write
(Outputs) UINT8 RO 0x03 (3
dec
)
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-
puts) UINT8 RO 0x04 (4
dec
)