Beckhoff EL6751, Documentation, Page: 139 / 210

Parameterization and commissioning
EL6751 139 Version: 3.5
Index 1C12 RxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign PDO Assign Outputs: the RxPDOs must be assigned in
the order of their indexes. The RxPDOs of the configured
CANopen slaves (
0x1600 [ } 133] -0x167E) must be as-
signed if object 0x1C12 is transmitted in the StartUp
SDOs. It can then still be decided via RxPDO Assign
whether or not the RxPDO Control (index
0x1685 [
}
134] )
is transmitted in the EtherCAT output data.
UINT8 RW
1C12:01 1. allocated RxPDO (contains the index of the associated
RxPDO mapping object) UINT16 RW
...
1C12:80 128. allocated RxPDO (contains the index of the associ-
ated RxPDO mapping object) UINT16 RW
Index 1C13 TxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs: the TxPDOs must be assigned in the
order of their indexes. The TxPDOs of the configured
CANopen slaves (
0x1A00 [
}
135] -0x1A7E) must be as-
signed if object 0x1C13 is transmitted in the StartUp
SDOs. It can then still be decided via TxPDO Assign
whether or not the TxPDOs PDO State (index
0x1A81
[ } 135] ), DiagFlag (index 0x1A82 [ } 136] ), NodeState (in-
dex 0x1A83 [ } 136] ), ExtendedDiag (index 0x1A84
[ } 137] ), CAN Status (index 0x1A85 [ } 138] ) and CAN Tx-
PDO Toggle (index 0x1A88 [
}
138] ) are transmitted in the
EtherCAT input data. In addition to the TxPDOs of the
configured CANopen slaves, the TxPDOs 0x1A83 and
0x1A85 are transmitted in the default settings.
UINT8 RW
1C13:01 1. allocated TxPDO (contains the index of the associated
TxPDO mapping object) UINT16 RW
...
1C13:83 135. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object) UINT16 RW