Beckhoff EL6751 Documentation page 151

Index F101 Extended Diag
Index (hex) Name
F101:0 Extended Diag
F101:01
F101:09
F101:0C SYNC Toggle
F101:0D Device Diag
F101:0E Sync Error
F101:0F PDO Toggle
F101:10 PDO State
F101:11 Cycle Counter
F101:12 Slave Status Counter This byte contains the number of
F101:13
F101:14 Cycle Time
Index F102 Node State
Index (hex) Name
F102:0 Node State
F102:01
...
F102:7F
EL6751
Meaning
This object contains the diagnosis of the EL6751, which
is mapped into TxPDO 133 (Index 0x1A84 [} 137])
reserved for extensions
reserved for extensions
toggles with each transmission of the SYNC message
reserved for extensions
reserved for extensions
The bit toggles if the EtherCAT input data has been up-
dated since the previous EtherCAT input update
This bit is set if at least one configured CANopen slave
has a node state that is not equal to 0
This counter is incremented after each CAN cycle (if at
least one CANopen slave has been configured)
reserved for extensions
This entry contains the required cycle time of the CAN
cycle in 1/9 µs
Meaning
There is a node state for each CANopen slave config-
ured in 0x8000+n*16. The node states are mapped in Tx-
PDO 132 (Index 0x1A83 [} 136]).
Node state of the first configured CANopen slave
0 No error
1 CANopen slave has not been restarted follow-
ing an error, because entry 0x8yy0:27 has
been configured for manual restart or because
the CANopen slave was stopped with AoE
2 CANopen slave does not respond
4 Length of the data at a StartUp SDO upload is
incorrect or StartUp SDO download has failed
5 Value of the data at a StartUp SDO upload is
incorrect
8 CANopen slave is in boot-up (StartUp SDOs
are being transmitted, so far no error)
11 CAN controller is in bus-off
12 CANopen slave has left OPERATIONAL (auto-
matically or on request by AoE)
14 Guarding has not toggled
18 CANopen slave was started, all CAN TxPDOs
were received, but no EtherCAT process data
has been exchanged yet
20 CAN TxPDO with incorrect length received
22 synchronous or event-timer-triggered CAN Tx-
PDO was not received in time
23 at least one CAN TxPDO has not yet been re-
ceived after the Start Node
24 TX FIFO overflow (e.g. if no CAN acknowledge
is detected)
40 CAN TxPDO with type 1 transmission was not
received in this CAN cycle
th
Node state of the 127 configured CANopen slave
Version: 3.5
Parameterization and commissioning
Data type Flags
UINT8 RO
8-bit gap
3-bit gap
BOOLEAN RO
BOOLEAN RO
BOOLEAN RO
BOOLEAN RO
BOOLEAN RO
UINT16 RO
UINT8 RO
8-bit gap
UINT16 RO
Data type Flags
UINT8 RO
UINT8 RO
UINT8 RO
Default
Default
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