Beckhoff EL6601 Documentation page 92

Commissioning
Index 1A00-1AFE TxPDO-Map
Index (hex) Name
1A00+n:0 TxPDO Map Ch.2
(1A00+n):01 Input Mapping Area
001
(1A00+n):02 Input Mapping Area
002
(1A00+n):03 Input Mapping Area
003
Index 1A80 PDO status
Index (hex) Name
1680:0 PDO status
1680:01 PDO status
Index 1C00 Sync manager type
Index (hex) Name
1C00:0 Sync manager type
1C00:01 SubIndex 001
1C00:02 SubIndex 002
1C00:03 SubIndex 003
1C00:04 SubIndex 004
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0 RxPDO assign
1C32:01 SubIndex 001
...
1C12:80 SubIndex 128
1C12:81 SubIndex 129
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0 TxPDO assign
1C13:01 SubIndex 001
...
1C13:80 SubIndex 128
1C13:81 SubIndex 129
92
Meaning
PDO Mapping TxPDO
(each module gets its own entry (Index 0x1A00+n),
0 ≤ n < maximum number of modules
1. PDO Mapping Entry (Object 0x6000+n*8:03)
2. PDO Mapping Entry (Object 0x6000+n*8:04)
3. PDO Mapping Entry (Object 0x6000+n*8:05)
Meaning
Max. subindex
Entry Master Status
Meaning
Using the sync managers
Sync-Manager Type Channel 1: Mailbox Write
Sync-Manager Type Channel 2: Mailbox Read
Sync-Manager Type Channel 3: Outputs
Sync-Manager Type Channel 4: Inputs
Meaning
PDO Assign Outputs
1. allocated RxPDO (contains the index of the associated
RxPDO mapping object)
128. allocated RxPDO (contains the index of the associ-
ated RxPDO mapping object)
PDO Control
Meaning
PDO Assign Inputs
1. allocated TxPDO (contains the index of the associated
TxPDO mapping object)
128. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
PDO status
Version: 4.2
Data type Flags Default
UINT8 RW 0x03 (3
UINT32 RW 0x6000+n*8:0
3, 16
UINT32 RW 0x6000+n*8:0
4, 16
UINT32 RW 0x6000+n*8:0
5, 16
Data type Flags Default
UINT8 RW 0x01 (1
UINT32 RW 0xF100:01, 16
Data type Flags Default
UINT8 RO 0x02 (2
UINT8 RO 0x01 (1
UINT8 RO 0x02 (2
UINT8 RO 0x02 (2
UINT8 RO 0x02 (2
Data type Flags Default
UINT8 RW -
UINT32 RW 0x1600
(5632
UINT32 RW 0x167F
(5759
UINT32 RW 0x1680
(5760
Data type Flags Default
UINT8 RW -
UINT32 RW 0x1A00
(6656
UINT32 RW 0x1A7F
(6783
UINT32 RW 0x1A80
(6784
EL6601, EL6614
)
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