Beckhoff EL6731 Documentation page 146

EtherCAT communication EL6731-00x0
Index 1887 DPM TxPDO-Par DC Cyclic Statistics
Index (hex) Name
1887:0 DPM TxPDO-Par DC
Cyclic Statistics
1887:06 Exclude TxPDOs
Index 1A00-1A7C DPS TxPDO-Map Slave yyy
Index (hex) Name
1A00+n:0 DPS TxPDO-Map
Slave yyy
(1A00+n):01
...
(1A00+n):F
F
Index 1A7F DPM TxPDO-Map Status PDO
Index (hex) Name
1A7F:0 DPM TxPDO-Map
Status PDO
1A7F:01 SubIndex 001
1A7F:02 SubIndex 002
1A7F:03 SubIndex 003
Index 1A80 DPM TxPDO-Map PDO Status
Index (hex) Name
1A82:0 DPM TxPDO-Map
PDO Status
1A82:01
...
1A82:m
Index 1A81 DPM TxPDO-Map PDO State
Index (hex) Name
1A81:0 DPM TxPDO-Map
PDO State
1A81:01
...
1A81:m
146
Meaning
PDO parameter TxPDO 136
Specifies the TxPDOs (index of TxPDO mapping objects)
that must not be transferred together with TxPDO 136
Meaning
There is one TxPDO containing the DP input data of the
DP slave for each configured DP slave. There is an entry
in the TxPDO mapping object 0x1A00+n for each DP
module with DP input data configured in object 0x8002
[} 155]+(n*16). If a DP slave does not contain any DP in-
put data, then the PDO mapping object 0x1A00+n does
not exist. These PDOs are mandatory and must always
be contained in the PDO Assign object 0x1C13 [} 149],
depending on the configured DP slaves. SubIndex 0 con-
tains the number of DP modules with DP input data of
th
the (n+1) configured DP slave.
first DP module with DP input data of the (n+1)
ured DP slave
..
last DP module with DP input data of the (n+1)
ured DP slave
Meaning
PDO Mapping TxPDO 128
st
1 PDO Mapping entry (object 0xF100, entry 0x01)
nd
2 PDO Mapping entry (7 bits align)
rd
3 PDO Mapping entry (object 0xF100, entry 0x0F)
Meaning
This PDO is assigned if Legacy Mapping (no MDP) is ac-
tive
first PDO mapping entry in the case of Legacy Mapping
last PDO mapping entry in the case of Legacy Mapping
Meaning
In this PDO there is a bit for each configured DP slave
that is set if the latter is not in exchanging data (a more
detailed error cause can be found in 0xF102 [} 157]:m for
th
the m configured DP slave). If the bit is set, the data of
the associated TxPDO m is to be ignored. This PDO is
optional.
PDO state of the first configured DP slave (configured via
the objects 0x800z)
th
PDO state of the last (m ) configured DP slave (config-
ured via the objects 0x800z+(m-1)*16 (1 <= m <= 127))
Version: 2.8
Data type Flags
UINT8 RO
OCTET- RO
STRING[10]
Data type Flags
UINT8 RO
th
config- UINT32 RO
th
config- UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
UINT32 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
UINT32 RO
Default
0x06 (6 )
dec
80 1A 86 1A
00 00 00 00
00 00
Default
Default
0x03 (3 )
dec
0xF100:01, 8
0x0000:00, 7
0xF100:0F, 1
Default
Default
EL6731