Beckhoff EL6731, Документация

Страница: 146 / 188

EtherCAT communication EL6731-00x0
EL6731 146 Version: 2.8
Index 1887 DPM TxPDO-Par DC Cyclic Statistics
Index (hex) Name Meaning Data type Flags Default
1887:0 DPM TxPDO-Par DC
Cyclic Statistics PDO parameter TxPDO 136 UINT8 RO 0x06 (6
dec
)
1887:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)
that must not be transferred together with TxPDO 136 OCTET-
STRING[10] RO 80 1A 86 1A
00 00 00 00
00 00
Index 1A00-1A7C DPS TxPDO-Map Slave yyy
Index (hex) Name Meaning Data type Flags Default
1A00+n:0 DPS TxPDO-Map
Slave yyy There is one TxPDO containing the DP input data of the
DP slave for each configured DP slave. There is an entry
in the TxPDO mapping object n for each DP
module with DP input data configured in object
0x8002
[ } 155] +(n*16). If a DP slave does not contain any DP in-
put data, then the PDO mapping object n does
not exist. These PDOs are mandatory and must always
be contained in the PDO Assign object
0x1C13 [
}
149] ,
depending on the configured DP slaves. SubIndex 0 con-
tains the number of DP modules with DP input data of
the (n+1)
th
configured DP slave.
UINT8 RO
(1A00+n):01 first DP module with DP input data of the (n+1)
th
config-
ured DP slave
UINT32 RO
... ..
(1A00+n):F
F last DP module with DP input data of the (n+1) th config-
ured DP slave
UINT32 RO
Index 1A7F DPM TxPDO-Map Status PDO
Index (hex) Name Meaning Data type Flags Default
1A7F:0 DPM TxPDO-Map
Status PDO PDO Mapping TxPDO 128 UINT8 RO 0x03 (3
dec
)
1A7F:01 SubIndex 001 1
st
PDO Mapping entry (object 0xF100, entry 0x01) UINT32 RO 0xF100:01, 8
1A7F:02 SubIndex 002 2
nd
PDO Mapping entry (7 bits align) UINT32 RO 0x0000:00, 7
1A7F:03 SubIndex 003 3
rd
PDO Mapping entry (object 0xF100, entry 0x0F) UINT32 RO 0xF100:0F, 1
Index 1A80 DPM TxPDO-Map PDO Status
Index (hex) Name Meaning Data type Flags Default
1A82:0 DPM TxPDO-Map
PDO Status This PDO is assigned if Legacy Mapping (no MDP) is ac-
tive UINT8 RO
1A82:01 first PDO mapping entry in the case of Legacy Mapping UINT32 RO
...
1A82:m last PDO mapping entry in the case of Legacy Mapping UINT32 RO
Index 1A81 DPM TxPDO-Map PDO State
Index (hex) Name Meaning Data type Flags Default
1A81:0 DPM TxPDO-Map
PDO State In this PDO there is a bit for each configured DP slave
that is set if the latter is not in exchanging data (a more
detailed error cause can be found in
0xF102 [
}
157] :m for
the m
th
configured DP slave). If the bit is set, the data of
the associated TxPDO m is to be ignored. This PDO is
optional.
UINT8 RO
1A81:01 PDO state of the first configured DP slave (configured via
the objects 0x800z) UINT32 RO
...
1A81:m PDO state of the last (m
th
) configured DP slave (config-
ured via the objects (m-1)*16 (1 <= m <= 127))
UINT32 RO