Beckhoff EL6731 Documentation page 144

EtherCAT communication EL6731-00x0
Index 10F3 Diagnosis History
Index (hex) Name
10F3:0 Diagnosis History
10F3:01 Maximum Messages
10F3:02 Newest Message
10F3:03 Newest Acknowl-
edged Message
10F3:04 New Messages Avail-
able
10F3:05 Flags
10F3:06 Diagnosis Message
001
... ...
10F3:45 Diagnosis Message
064
Index 10F8 Actual Time Stamp
Index (hex) Name
10F8:0 Actual Time Stamp
Index 1600-167C RxPDO-Map DP-Slave yyy
Index (hex) Name
1600+n:0 RxPDO-Map DP-
Slave yyy
(1600+n):01
...
(1600+n):FF
Index 167F DPM RxPDO-Map Control
Index (hex) Name
167F:0 DPM RxPDO-Map
Control
167F:01 SubIndex 001
167F:02 SubIndex 002
Index 187F DPM TxPDO-Par Status PDO
Index (hex) Name
187F:0 DPM TxPDO-Par Sta-
tus PDO
187F:06 Exclude TxPDOs
144
Meaning
Maximum subindex
Maximum number of stored messages
A maximum of 50 messages can be stored
Subindex of the latest message
Subindex of the last confirmed message
Indicates that a new message is available
not used
Message 1
...
Message 64
Meaning
Time stamp
Meaning
There is an RxPDO containing the DP output data of the
DP slave for each configured DP slave. There is an entry
in the RxPDO mapping object 0x1600+n for each DP
module with DP output data configured in object 0x8002
[} 155]+(n*16). If a DP slave does not contain any DP
output data, then the PDO mapping object 0x1600+n
does not exist. These PDOs are mandatory and must al-
ways be contained in the PDO Assign object 0x1C12
[} 149], depending on the configured DP slaves.
SubIndex 0 contains the number of DP modules with DP
th
output data of the (n+1) configured DP slave.
first DP module with DP output data of the (n+1)
ured DP slave
..
last DP module with DP output data of the (n+1)
ured DP slave
Meaning
PDO Mapping RxPDO 128
st
1 PDO Mapping entry (object 0xF200, entry 0x01)
nd
2 PDO Mapping entry (15 bits align)
Meaning
PDO parameter TxPDO 128
Specifies the TxPDOs (index of TxPDO mapping objects)
that must not be transferred together with TxPDO 128
Version: 2.8
Data type Flags
UINT8 RO
UINT8 RO
UINT8 RO
UINT8 RW
BOOLEAN RO
UINT16 RW
OCTET- RO
STRING[20]
... ...
OCTET- RO
STRING[20]
Data type Flags
UINT64 RO
Data type Flags
UINT8 RO
th
config- UINT32 RO
th
config- UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
UINT32 RO
Data type Flags
UINT8 RO
OCTET- RO
STRING[10]
Default
0x45 (69 )
dec
0x00 (0 )
dec
0x00 (0 )
dec
0x00 (0 )
dec
0x00 (0 )
dec
0x0000 (0 )
dec
{0}
...
{0}
Default
Default
Default
0x02 (2 )
dec
0xF200:01, 1
0x0000:00, 15
Default
0x06 (6 )
dec
80 1A 00 00
00 00 00 00
00 00
EL6731