Firmware Versions - Beckhoff EL6751 Documentation

Parameterization and commissioning
Peer-to-peer objects
Object Function with I/O de-
vices
Emergency Status / error
PDO1 (tx) dig. inputs
PDO1 (rx) digital outputs
PDO2 (tx) analog inputs
PDO2 (rx) analog outputs
PDO3 (tx) analog inputs*
PDO3 (rx) analog outputs*
PDO4 (tx) analog inputs*
PDO4 (rx) analog outputs*
SDO (tx) Parameter
SDO (rx) Parameter
Guarding Life and node
guarding,
heartbeat,
boot-up message
* For historical reasons, the Beckhoff default mapping applies to PDOs 3 and 4 in Beckhoff I/O devices. In
most configurations, PDOs 3 and 4 contain data related to analog inputs and outputs, but there can also be
"excess" data from digital I/Os, or data from special terminals. Details may be found in the Bus Coupler
documentation.
Up until version 3 of the CANopen specification, default identifiers were assigned to 2 PDOs at a time. The
Beckhoff Bus Couplers up to firmware status BA correspond to this issue of the specification. After firmware
status C0 (CANopen version 4), default identifiers are provided for up to 4 PDOs.
5.4.9

Firmware versions

Notes on Firmware 18 (FW 18 [} 176])
• By default, the EL6751 does not start transmitting the RxPDOs until one second after sending the
Startup NMT message to a CANopen node. This function can be deactivated in the "Advanced
Settings" (see fig.). In this case, immediately after the startup NMT message, the EL6751 starts
sending the RxPDo for that node.
120
Function Resulting COB ID hex / dec
code
1 0x81 - 0xFF/ 129 - 255
11 0x181 - 0x1FF / 385 - 511
100 0x201 - 0x27F/ 513-639
101 0x281 - 0x2FF/ 641-767
110 0x301 - 0x37F/ 769-895
111 0x381 - 0x3FF / 897 - 1023
1000 0x401 - 0x47F/ 1025 - 1151
1001 0x481 - 0x4FF/ 1153 - 1279
1010 0x501 - 0x57F/ 1281 - 1407
1011 0x581 - 0x5FF/ 1409-1535
1100 0x601 - 0x67F/ 1537-1663
1110 0x701 - 0x77F/ 1793-1919
Version: 3.5
Object for communication
Parameter / mapping
- / -
0x1800 / 0x1A00
0x1400 / 0x1600
0x1801 / 0x1A01
0x1401 / 0x1601
0x1802 / 0x1A02
0x1402 / 0x1602
0x1803 / 0x1A03
0x1403 / 0x1603
- / -
- / -
(0x100C, 0x100D, 0x100E,
0x1016, 0x1017)
EL6751