Beckhoff EK3100, Документация

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Configuration
EK3100 51 Version: 1.5
5.4.2 Note the structure of the DPV1 telegram
Table 8: Structure of the DPV1 telegram for write and read access.
Index 100
Slot number Position of the EtherCAT
Terminal, absolute position.
Structure Meaning Length in
bytes
CoE Index CoE index number. 2
COE subindex COE subindex number. 1
READ/ WRITE 0-read/ 1-write. 1
Length Length of the data that is to be
written. During reading, this can
be zero. 4
Data Data, only required for writing. n
If you use virtual slaves, the slot number must contain the actual terminal position, not the slot position of the
EtherCAT Terminal.
Example
You want to read the COE data of EtherCAT Terminal EL3154. This EtherCAT Terminal is configured in
TwinCAT under slave 2 (virtual slave).
Table 9: Distribution of the EtherCAT device in TwinCAT over two slaves.
Slave 1 Slave 2 (virtual slave)
EK3100 CtrlStat
us EL1008 EL2008 EL3062 EK1110 EK3100 CtrlStat
us EK1100 EL2008 EL1008 EL3154
PROFIBUS address: 11 PROFIBUS address: 12. The non-visible EL9011 is
omitted.
In this example EtherCAT Terminal EL3154 has the slot number 8. Both CtrlStatus DWORD modules and
the virtual EK3100 slave are not included in the count.
Table 10: Distribution of the slot numbers across the EtherCAT devices.
Slave 1 Slave 2 (virtual slave)
Slot
number 1 2 3 4 5 6 7 8
EK3100 EL1008 EL2008 EL3062 EK1110 EK1100 EL2008 EL1008 EL3154
PROFIBUS address: 11 PROFIBUS address: 12. The non-visible EL9011 is
omitted.