Beckhoff EtherCAT EL6752, Documentation

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Parameterization and commissioning
EL6752 79 Version: 2.1
Index 1A01 DNM TxPDO-Map Device
Index (hex) Name Meaning Data type Flags Default
1A01:0 DNM TxPDO-Map
Device PDO Mapping TxPDO 2 UINT8 RW 0x09 (9
dec
)
1A01:01 SubIndex 001 1. PDO Mapping entry (object 0xF100 (DeviceNet sta-
tus), entry 0x01 (Communication status)) UINT32 RW 0xF100:01, 8
1A01:02 SubIndex 002 2. PDO Mapping entry (7 bits align) UINT32 RW 0x0000:00, 7
1A01:03 SubIndex 003 3. PDO Mapping entry (object 0xF100 (DeviceNet sta-
tus), entry 0x10 (TxPdoState)) UINT32 RW 0xF100:10, 1
1A01:04 SubIndex 004 4. PDO Mapping entry (object 0xF101 (Network status),
entry 0x01 (Device status)) UINT32 RW 0xF101:01, 8
1A01:05 SubIndex 005 5. PDO Mapping entry (object 0xF101 (Network status),
entry 0x09 (CAN BUS-OFF)) UINT32 RW 0xF101:09, 1
1A01:06 SubIndex 006 6. PDO Mapping entry (object 0xF101 (Network status),
entry 0x0A (CAN warning limit)) UINT32 RW 0xF101:0A, 1
1A01:07 SubIndex 007 7. PDO Mapping entry (object 0xF101 (Network status),
entry 0x0B (CAN Overrun)) UINT32 RW 0xF101:0B, 1
1A01:08 SubIndex 008 8. PDO Mapping entry (5 bits align) UINT32 RW 0x0000:00, 5
1A01:09 SubIndex 009 9. PDO Mapping entry (object 0xF101 (Network status),
entry 0x11 (CAN BUS load)) UINT32 RW 0xF101:11, 16
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
)
Index 1C12 RxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x01 (1
dec
)
1C12:01 SubIndex 001 1
st
allocated RxPDO (contains the index of the associ-
ated RxPDO mapping object)
UINT16 RW 0x1600
(5632
dec
)
Index 1C13 TxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2
dec
)
1C13:01 SubIndex 001 1
st
allocated TxPDO (contains the index of the associated
TxPDO mapping object)
UINT16 RW 0x1A00
(6656
dec
)
1C13:02 SubIndex 002 2
nd
allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
UINT16 RW 0x1A01
(6657
dec
)
Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Index 6000 Poll Produced Data
Index (hex) Name Meaning Data type Flags Default
6000:0 Poll Produced Data Output data of the polling connection UINT8 RO 0x01 (1
dec
)
6000:01
...
6000:01