Beckhoff EL6751, Документация

Страница: 142 / 210

Parameterization and commissioning
EL6751 142 Version: 3.5
Index 6004-67E4 CAN TxPDOs Toggle Node yyy
Index (hex) Name Meaning Data type Flags Default
6004+n*16:
0 CAN TxPDOs Toggle
Node yyy This object contains the toggle bits of the CAN TxPDOs
1-255 of the (n+1)
th
configured CANopen slave. The bit
toggles if the associated CAN TxPDO has been received
since the previous EtherCAT input update. It does not
matter whether the CAN TxPDO was received one or
more times. The corresponding SubIndex is present only
if the toggle bit was also configured in object
n*16 [ } 145] . These toggle bits are mapped in
the TxPDOs 137/138 (index 0x1A88 [
}
138] or 0x1A89
[
}
138] )
UINT8 RO
(6004+n*16)
:01 Toggle bit of CAN TxPDO 1 of the (n+1)
th
configured
CANopen slave
BOOLEAN RO
...
(6004+n*16)
:FF Toggle bit of CAN TxPDO 255 of the (n+1)
th
configured
CANopen slave
BOOLEAN RO
Index 7000-77E0 CAN RxPDOs Node yyy
Index (hex) Name Meaning Data type Flags Default
7000+n*16:
0 CAN RxPDOs Node
yyy This object contains the CAN RxPDOs 1-255 of the (n
+1)
th configured CANopen slave. The corresponding
SubIndex is only present if the corresponding CAN Rx-
PDO was also configured in object
n*16 [
}
145] .
The object is mapped in the RxPDO (n+1) (index 0x1600
[
}
133] +n).
UINT8 RO
(7000+n*16)
:01 Data of CAN RxPDO 1 of the (n+1)
th
configured
CANopen slave
OCTET-
STRING RO
...
(7000+n*16)
:FF Data of CAN RxPDO 255 of the (n+1)
th
configured
CANopen slave
OCTET-
STRING RO
Index 7004-77E4 CAN TxPDOs RTR Request Node yyy
Index (hex) Name Meaning Data type Flags Default
7004+n*16:
0 CAN TxPDOs RTR
Request Node yyy This object contains the RTR bits of the CAN TxPDOs
1-255 of the (n+1)
th
configured CANopen slave. If the bit
is toggled, a RTR request is sent to collect the associ-
ated CAN TxPDO. The corresponding SubIndex is
present only if the RTR bit was also configured in object
n*16 [ } 145] .
UINT8 RO
(7004+n*16)
:01 RTR bit of CAN TxPDO 1 of the (n+1)
th
configured
CANopen slave
BOOLEAN RO
...
(7004+n*16)
:FF RTR bit of CAN TxPDO 255 of the (n+1)
th
configured
CANopen slave
BOOLEAN RO