Beckhoff EL6751 Documentation page 160

Parameterization and commissioning
Index 1600 RxPDO-Map CAN Interface
Index (hex) Name
1600:0 RxPDO-Map CAN In-
terface
1600:01
1600:02
1600:03
1600:04
...
1600:m
Index 1A00 TxPDO-Map CAN Interface
Index (hex) Name
1A00:0 TxPDO-Map CAN In-
terface
1A00:01
1A00:02
1A00:03
1A00:04
1A00:05
...
1A00:m
5.5.2.3.2 Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
160
Meaning
The CAN interface is mapped into the EtherCAT output
data with this PDO. The number of buffers for the CAN
messages is configured in object 0x8000. Furthermore,
object 0x8000 is used to configure whether the CAN
messages are transmitted with an 11-bit identifier (object
0x7000) or with a 29-bit identifier (object 0x7001). De-
pending on this setting, object 0x7000 or object 0x7001
is mapped in this PDO. The PDO is mandatory and must
always be contained in the PDO Assign object 0x1C12
1. PDO Mapping entry (object 0x700z (CAN Interface
output), entry 0x01 (TX Counter))
2. PDO Mapping entry (object 0x700z (CAN Interface
output), entry 0x02 (RX Counter))
3. PDO Mapping entry (object 0x700z (CAN Interface
output), entry 0x03 (Number of TX Messages))
4. PDO Mapping entry (object 0x700z (CAN Interface
output), entry 0x04 (TX Message 1))
..
m. PDO Mapping entry (object 0x700z (CAN Interface
output), entry m (TX Message m-3))
Meaning
The CAN interface is mapped into the EtherCAT input
data with this PDO. The number of buffers for the CAN
messages is configured in object 0x8000. Furthermore,
object 0x8000 is used to configure whether the CAN
messages are transmitted with an 11-bit identifier (object
0x6000) or with a 29-bit identifier (object 0x6001). De-
pending on this setting, object 0x6000 or object 0x6001is
mapped in this PDO. The PDO is mandatory and must
always be contained in the PDO Assign object 0x1C13
1. PDO Mapping entry (object 0x6000 (CAN Interface in-
put), entry 0x01 (TX Counter))
2. PDO Mapping entry (object 0x6000 (CAN Interface in-
put), entry 0x02 (RX Counter))
3. PDO Mapping entry (object 0x6000 (CAN Interface in-
put), entry 0x03 (Number of RX Messages))
4. PDO Mapping entry (object 0x6000 (CAN Interface in-
put), entry 0x04 (TX Transaction Number))
5. PDO Mapping entry (object 0x6000 (CAN Interface in-
put), entry 0x05 (RX Message 1))
..
m. PDO Mapping entry (object 0x6000 (CAN Interface in-
put), entry m (RX Message m-4))
Version: 3.5
Data type Flags Default
UINT8 RW
UINT32 RW
UINT32 RW
UINT32 RW
UINT32 RW
UINT32 RW
Data type Flags Default
UINT8 RW
UINT32 RW
UINT32 RW
UINT32 RW
UINT32 RW
UINT32 RW
UINT32 RW
EL6751