Beckhoff EL6751 Documentation page 150

Parameterization and commissioning
Index F002 Detect modules command
Index (hex) Name
F002:0 Detect modules com-
mand
F002:01 Command Request
F002:02 Command Status
F002:03 Command Response Byte 0
Index F020 Configured address list
Index (hex) Name
F020:0 Configured address
list
F020:01
...
F020:7F
Index F040 Detected address list
Index (hex) Name
F040:0 Configured address
list
F040:01
...
F040:7E
150
Meaning
The CAN bus can be scanned in PREOP for CANopen
slave with this object. The CAN node addresses of the
CANopen slaves found are stored in the object 0xF040
[} 150]. Furthermore, the InfoData objects 0x9yyz [} 146]
are created. However, none of the objects 0x8yyz [} 143]
or 0xF800 [} 154] may be transmitted before that. If this is
the case, or if the scan is to be repeated, the EL6751
must be switched once to INIT and back to PREOP be-
forehand.
The writing of this entry starts the scan; the baud rate ac-
cording to 0xF800:02 [} 154] is located in the data word
0 Command ended without error, no response
data
1 Command ended without error, response
data in SubIndex 3
3 Command ended with an error, error code in
SubIndex 3
100-199 0-99% of the command are ended
255 Command is being executed
as SubIndex 2
Byte 1 reserved for extensions
Bytes 2-3 Number of found slaves
Byte 4 Node address of the first CANopen slave
found
Bytes 5-8 Vendor ID of the first CANopen slave found
Bytes Product code of the first CANopen slave
9-12 found
Byte 13 Node address of the second CANopen slave
found ...
... etc.
Meaning
This object contains the node addresses of the config-
ured CANopen slaves. SubIndex 0 contains the number
of configured CANopen slaves. The list has a maximum
of 127entries (CAN interface (if configured: node address
0 in 0xF020:01) plus 126 CANopen slaves)
Node address of the first configured CANopen slave
(same value as in 0x8000 [} 143]:01)
th
Node address of the 127 configured CANopen slave
(same value as in 0x87E0 [} 143]:01)
Meaning
This object contains the node addresses of the CANopen
slaves found if the Detect modules command [} 150] has
been executed. SubIndex 0 contains the number of
CANopen slaves found. The list has a maximum of 126
entries.
Node address of the first CANopen slave found (same
value as in 0x9000 [} 146]:01)
th
Node address of the 126 CANopen slave found (same
value as in 0x97D0 [} 146]:01)
Version: 3.5
Data type Flags Default
UINT8 RO
OCTET- RW
STRING[2]
UINT8 RO
OCTET- RO
STRING[n]
Data type Flags Default
UINT8 RO
UINT16 RO
UINT16 RO
Data type Flags Default
UINT8 RO
UINT16 RO
UINT16 RO
EL6751