Beckhoff EL6751, Документация

Страница: 150 / 210

Parameterization and commissioning
EL6751 150 Version: 3.5
Index F002 Detect modules command
Index (hex) Name Meaning Data type Flags Default
F002:0 Detect modules com-
mand The CAN bus can be scanned in PREOP for CANopen
slave with this object. The CAN node addresses of the
CANopen slaves found are stored in the object
0xF040
[
}
150] . Furthermore, the InfoData objects 0x9yyz [
}
146]
are created. However, none of the objects 0x8yyz [
}
143]
or 0xF800 [
}
154] may be transmitted before that. If this is
the case, or if the scan is to be repeated, the EL6751
must be switched once to INIT and back to PREOP be-
forehand.
UINT8 RO
F002:01 Command Request The writing of this entry starts the scan; the baud rate ac-
cording to
0xF800:02 [
}
154] is located in the data word
OCTET-
STRING[2] RW
F002:02 Command Status 0 Command ended without error, no response
data UINT8 RO
1 Command ended without error, response
data in SubIndex 3
3 Command ended with an error, error code in
SubIndex 3
100-199 0-99% of the command are ended
255 Command is being executed
F002:03 Command Response Byte 0 as SubIndex 2 OCTET-
STRING[n] RO
Byte 1 reserved for extensions
Bytes 2-3 Number of found slaves
Byte 4 Node address of the first CANopen slave
found
Bytes 5-8 Vendor ID of the first CANopen slave found
Bytes
9-12 Product code of the first CANopen slave
found
Byte 13 Node address of the second CANopen slave
found …
... etc.
Index F020 Configured address list
Index (hex) Name Meaning Data type Flags Default
F020:0 Configured address
list This object contains the node addresses of the config-
ured CANopen slaves. SubIndex 0 contains the number
of configured CANopen slaves. The list has a maximum
of 127entries (CAN interface (if configured: node address
0 in 0xF020:01) plus 126 CANopen slaves) UINT8 RO
F020:01 Node address of the first configured CANopen slave
(same value as in
0x8000 [ } 143] :01)
UINT16 RO
...
F020:7F Node address of the 127
th
configured CANopen slave
(same value as in 0x87E0 [
}
143] :01)
UINT16 RO
Index F040 Detected address list
Index (hex) Name Meaning Data type Flags Default
F040:0 Configured address
list This object contains the node addresses of the CANopen
slaves found if the
Detect modules command [
}
150] has
been executed. SubIndex 0 contains the number of
CANopen slaves found. The list has a maximum of 126
entries.
UINT8 RO
F040:01 Node address of the first CANopen slave found (same
value as in
0x9000 [ } 146] :01)
UINT16 RO
...
F040:7E Node address of the 126
th
CANopen slave found (same
value as in 0x97D0 [ } 146] :01)
UINT16 RO