Beckhoff EL6731, Документация

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EtherCAT communication EL6731-00x0
EL6731 144 Version: 2.8
Index 10F3 Diagnosis History
Index (hex) Name Meaning Data type Flags Default
10F3:0 Diagnosis History Maximum subindex UINT8 RO 0x45 (69
dec
)
10F3:01 Maximum Messages Maximum number of stored messages
A maximum of 50 messages can be stored UINT8 RO 0x00 (0
dec
)
10F3:02 Newest Message Subindex of the latest message UINT8 RO 0x00 (0
dec
)
10F3:03 Newest Acknowl-
edged Message Subindex of the last confirmed message UINT8 RW 0x00 (0
dec
)
10F3:04 New Messages Avail-
able Indicates that a new message is available BOOLEAN RO 0x00 (0
dec
)
10F3:05 Flags not used UINT16 RW 0x0000 (0
dec
)
10F3:06 Diagnosis Message
001 Message 1 OCTET-
STRING[20] RO {0}
... ... ... ... ... ...
10F3:45 Diagnosis Message
064 Message 64 OCTET-
STRING[20] RO {0}
Index 10F8 Actual Time Stamp
Index (hex) Name Meaning Data type Flags Default
10F8:0 Actual Time Stamp Time stamp UINT64 RO
Index 1600-167C RxPDO-Map DP-Slave yyy
Index (hex) Name Meaning Data type Flags Default
1600+n:0 RxPDO-Map DP-
Slave yyy There is an RxPDO containing the DP output data of the
DP slave for each configured DP slave. There is an entry
in the RxPDO mapping object n for each DP
module with DP output data configured in object
0x8002
[ } 155] +(n*16). If a DP slave does not contain any DP
output data, then the PDO mapping object n
does not exist. These PDOs are mandatory and must al-
ways be contained in the PDO Assign object
0x1C12
[
}
149] , depending on the configured DP slaves.
SubIndex 0 contains the number of DP modules with DP
output data of the (n+1)
th
configured DP slave.
UINT8 RO
(1600+n):01 first DP module with DP output data of the (n+1)
th
config-
ured DP slave
UINT32 RO
... ..
(1600+n):FF last DP module with DP output data of the (n+1)
th
config-
ured DP slave
UINT32 RO
Index 167F DPM RxPDO-Map Control
Index (hex) Name Meaning Data type Flags Default
167F:0 DPM RxPDO-Map
Control PDO Mapping RxPDO 128 UINT8 RO 0x02 (2
dec
)
167F:01 SubIndex 001 1
st
PDO Mapping entry (object 0xF200, entry 0x01) UINT32 RO 0xF200:01, 1
167F:02 SubIndex 002 2
nd
PDO Mapping entry (15 bits align) UINT32 RO 0x0000:00, 15
Index 187F DPM TxPDO-Par Status PDO
Index (hex) Name Meaning Data type Flags Default
187F:0 DPM TxPDO-Par Sta-
tus PDO PDO parameter TxPDO 128 UINT8 RO 0x06 (6
dec
)
187F:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)
that must not be transferred together with TxPDO 128 OCTET-
STRING[10] RO 80 1A 00 00
00 00 00 00
00 00