Beckhoff EtherCAT EL6752 Documentation page 66

Parameterization and commissioning
The EtherCAT PDO mapping (EtherCAT objects 0x16yy, 0x1Ayy) and the PDO assignment (EtherCAT
objects 0x1C12 [} 73], 0x1C13 [} 74]) can be read once the DeviceNet master parameters and the
DeviceNet slave parameters have been written. The associated process image is then generated.
Once the DeviceNet master parameters have been written via the EtherCAT object 0xF800 [} 76], the
DeviceNet master registers itself in the network and carries out the Duplicate MAC ID check.
Starting the fieldbus
During the EtherCAT state transition from PREOP to SAFEOP the DeviceNet master starts the data
communication with the slaves and allocates the configured operating modes. In EtherCAT state SAFEOP
the DeviceNet master is in IDLE mode. During the EtherCAT state transition from SAFEOP to OP the
DeviceNet master switches to RUN mode.
Loading a new configuration
A new DeviceNet configuration can only be loaded through an EtherCAT state transition to IDLE or PREOP.
The DeviceNet master parameters and DeviceNet slave parameters then have to be written again.
6.7.1.2 EL6752-0010 DeviceNet slave configuration
The DeviceNet slaves are configured in EtherCAT state PREOP. The general DeviceNet slave parameters
are written via the EtherCAT object 0xF800 [} 81], the slave configuration data, i.e. the communication
features and the IO configuration are written via the EtherCAT object 0x8000 [} 77], see section EtherCAT
Object Description.
The EtherCAT states are mapped to DeviceNet as follows:
Fig. 66: EtherCAT states in mapping on EL6752-0010
The EtherCAT PDO mapping (EtherCAT objects 0x1600 [} 78], 0x1A00 [} 78], 0x1A80) and the PDO
assignment (EtherCAT objects 0x1C12 [} 79], 0x1C13 [} 79]) can be read once the DeviceNet slave
parameters and the DeviceNet slave configuration data have been written. The associated process image is
then generated.
66 Version: 2.1 EL6752