Beckhoff EtherCAT EL6001, Документация

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Overview of CoE objects EL6001, EL6021
EL600x, EL602x 165 Version: 4.6
Index 0xF010 Module list
Index
(hex) Name Meaning Data type Flags Default
F010:0 Module list Max. SubIndex (hex) UINT8 RW 0x02 (2
dec
)
F010:01 SubIndex 0x001 - UINT32 RW 0x00000000
(0
dec
)
F010:02 SubIndex 0x002 - UINT32 RW 0x00000258
(600
dec
)
6.2 Control and status word
Control word
The control word (CW) is located in the output process image, and is transmitted from the controller to the
terminal.
Bit CW.15 CW.14 CW.13 CW.12 CW.11 CW.10 CW.9 CW.8 CW.7 CW.6 CW.5 CW.4 CW.3 CW.2 CW.1 CW.0
Name OL7 OL6 OL5 OL4 OL3 OL2 OL1 OL0 - OL2* OL1* OL0* SC IR RA TR
Bits CW.15 to CW.8 are only shown if the large process image is used.
If the small or medium process image is used, only bits CW.7 to CW.0 are shown as control bytes! The
number of output bytes available for transfer from the controller to the terminal is displayed by bits OL2* ...
OL0*.
Legend
Bit Name Description
CW.15 ... CW8 OL7 ... OL0
(OutLenght) 1
dec
... 22
dec
If the large process image is used: Number of output bytes available for
transfer from the controller to the terminal.
- If the small/medium process image is used: not shown
CW.7 - 0
bin
reserved
CW.6 ... CW.4 OL2* ... OL0*
(OutLenght*) 0 If the large process image is used: reserved
1 ... 6 If the medium process image is used: Number of output bytes available for
transfer from the controller to the terminal.
1 ... 4 If the small process image is used: Number of output bytes available for
transfer from the controller to the terminal.
CW.3 SC
(SendContinuous) rise Continuous sending of data from the FIFO.
The send buffer is filled (up to 128 bytes) by the controller. The buffer content
is sent with rising edge of bit SC. The terminal acknowledges the data trans-
fer to the controller through setting of bit SW.2. SW.2 is cancelled with CW.3.
CW.2 IR
(InitRequest) 1
bin
The controller requests terminal for initialization. The send and receive func-
tions are blocked, the FIFO pointers are reset, and the interface is initialized
with the values of the responsible objects (baud rate
4073 [
}
144] , data frame
4074 [
}
144] , feature bits 4075 [
}
145] ). The terminal acknowledges comple-
tion of the initialization via bit SW.2 [
}
166] (IA).
0
bin
The controller once again requests the terminal to prepare for serial data ex-
change.
CW.1 RA
(ReceiveAccepted) toggle The controller acknowledges receipt of data by changing the state of this bit.
Only then new data can be transferred from the terminal to the controller.
CW.0 TR
(TransmitRequest) toggle Via a change of state of this bit the controller notifies the terminal that the
DataOut bytes contain the number of bytes indicated via the OL bits. The ter-
minal acknowledges receipt of the data in the status byte via a change of
state of bit
SW.0 [ } 166] (TA). Only now new data can be transferred from the
controller to the terminal.