Beckhoff EL6731, Документация

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EtherCAT communication EL6731-00x0
EL6731 157 Version: 2.8
Index F102 DP Slave Status data
Index Name Meaning Data type Flags Default
F102:0 DP Slave Status data This object contains the status of communication to the
DP slaves that is mapped to TxPDO 133 (index 0x1A84
[ } 147] )
UINT8 RO
F102:01 Communication status of the first configured DP slave (in
the objects
0x8000 [
}
154] , 0x8001 [
}
155] , 0x8002
[
}
155] )
UINT8 RO
0 Slave is exchanging data; DP inputs are up to date
1 Slave is deactivated (via AoE)
2 Slave does not respond
3 slave currently exchanging data with another mas-
ter
4 incorrect slave response (e.g. service not activated
in the case of data exchange)
5 Slave reports parameterization error (error in the
SetPrm telegram (usually Ident-Number or User-
PrmData))
6 Slave reports that a DP function is not supported
7 Slave reports configuration error 8 - error in the
ChkCfg telegram (usually incorrect DP module con-
figured))
8 Slave is in DP bootup but is not yet ready for data
exchange
9 Slave reports static diagnosis
11 Response with bus error (e.g. parity or checksum
error)
14 Response with telegram error (e.g. request bit set)
15 Slave reports no resources (e.g. PrmData or Cfg-
Data is too long)
16 Slave reports that the DP service is not activated
17 Unexpected telegram received (e.g. token when
waiting for a response from a slave)
18 Slave is ready for data exchange; however, no
process data are exchanged over EtherCAT as yet
...
F102:7D Communication status of the mth configured DP slave UINT8 RO
Index F10F Cycle Statistic data
Index (hex) Name Meaning Data type Flags Default
F10F:0 Cycle Statistic data This object contains the measured times of the respec-
tive last cycle. They can be transferred cyclically with Tx-
PDO 135 (
0x1A86 [ } 148] ) or TxPDO 136 ( 0x1A87
[ } 148] ) and they then always contain the values for the
preceding cycle.
UINT8 RO 0x08 (8
dec
)
F10F:01 Multiplier The entries 0xF10F:03, 0xF10F:04, 0xF10F:05 and
0xF10F:06 must be multiplied by this value in order to
convert these entries into the unit 100 ns UINT16 RO 0x0000 (0
dec
)
F10F:02 Divider The entries 0xF10F:03, 0xF10F:04, 0xF10F:05 and
0xF10F:06 must be divided by this value in order to con-
vert these entries into the unit 100 ns UINT16 RO 0x0000 (0
dec
)
F10F:03 Cycle Time
Cycle time ( 0x1C32:05 [
}
150] ) of the preceding DP cycle
in local ticks
UINT16 RO 0x0000 (0
dec
)
F10F:04 Cycle Distance Time Distance between the last two SM2 events (only if
0x1C32:01 [
}
150] = 1 or 0x1C32:01 = 2)
UINT16 RO 0x0000 (0
dec
)
F10F:05 Output Calc And
Copy Time
Output Calc And Copy Time ( 0x1C32:06 [
}
150] ) of the
preceding DP cycle in local ticks
UINT16 RO 0x0000 (0
dec
)
F10F:06 Input Calc And Copy
Time Input Calc And Copy Time (0x1C33:06) of the preceding
DP cycle in local ticks UINT16 RO 0x0000 (0
dec
)
F10F:07 Output Delay Time
Output Delay Time ( 0x1C32:09 [ } 150] ) of the preceding
cycle in ns
UINT32 RO 0x00000000
(0
dec
)
F10F:08 SM/SYNC Event Dis-
tance Time SM/SYNC0 Event Distance Time (distance between SM2
and SYNC0 event) of the preceding cycle in ns (must be
activated via register 0x816 in the ET1100). INT32 RO 0x00000000
(0
dec
)