Beckhoff EL6751 Documentation page 144

Parameterization and commissioning
Index (hex) Name
(8000+n*16 Boot timeout
):24
(8000+n*16 Parallel AoE services Number of parallel acyclic CAN SDO orders for the
):25
(8000+n*16 Reaction on
):26 CANopen fault
(8000+n*16 Restart behavior after
):27 CANopen fault
(8000+n*16 Master reaction after
):28 CANopen fault
(8000+n*16 Changes of CAN Tx-
):29 PDOs after CANopen
fault
(8000+n*16
):2A
(8000+n*16
):2E
(8000+n*16
):2F
(8000+n*16
):30
(8000+n*16
):31
(8000+n*16
):32
(8000+n*16
):33
(8000+n*16
):34
(8000+n*16
):35
(8000+n*16
):36
144
Meaning
This time is allowed to elapse after a Reset Node before
the first CAN SDO is sent during the boot-up (in ms, 0
corresponds to 2000 ms)
CANopen slave that can be received via AoE from the
EtherCAT master, saved and processed on the EL6751
(0 corresponds to the default value of 5)
If an error is detected during communication with the
CANopen slave (error code in 0xF102 [} 151]:(n+ 1)), the
reaction is as follows:
FALSE The CANopen is stopped; the next startup
(see SubIndex 0x27) will begin with Reset
Node
TRUE The CANopen is stopped; the next startup
(see SubIndex 0x27) will begin with the first
CAN StartUp SDO (usually the reading of
object 0x1000)
If an error is determined during communication with the
CANopen slave and the 'Reaction on CANopen fault'
has been executed, the restart behavior is as follows
FALSE The CANopen slave is automatically
restarted (in accordance with SubIndex
0x26)
TRUE The CANopen slave must be restarted via
AoE
If an error is determined during communication with the
CANopen slave, the CANopen communication with the
other CANopen slaves can be influenced:
FALSE no influence
TRUE a Stop Node is sent to all CANopen slaves;
the CANopen communication must be
restarted via AoE
If an error is detected during communication with the
CANopen slave, the EtherCAT input data is influenced
as follows
FALSE The data of the CAN TxPDOs in the Ether-
CAT input data is set to 0
TRUE The data of the CAN TxPDOs in the Ether-
CAT input data remains unchanged
reserved for extensions; must be 0
reserved for extensions; must be 10
reserved for extensions; must be 0
reserved for extensions; must be 0
reserved for extensions; must be 0
reserved for extensions; must be 0
reserved for extensions; must be 0
reserved for extensions; must be 0
reserved for extensions; must be 0
reserved for extensions; must be 0
Version: 3.5
Data type Flags Default
UINT16 RW 0x07D0
(2000
UINT8 RW 0x05 (5
BOOLEAN RW FALSE
BOOLEAN RW FALSE
BOOLEAN RW FALSE
BOOLEAN RW FALSE
4-bit gap RW 0x00 (0
UNSIGNED8 RW 0x0A (10
8-bit gap RW 0x00 (0
32-bit gap RW 0x00000000
(0 )
dec
32-bit gap RW 0x00000000
(0 )
dec
32-bit gap RW 0x00000000
(0 )
dec
32-bit gap RW 0x00000000
(0 )
dec
32-bit gap RW 0x00000000
(0 )
dec
32-bit gap RW 0x00000000
(0 )
dec
32-bit gap RW 0x00000000
(0 )
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EL6751