Beckhoff EL6731 Documentation page 148

EtherCAT communication EL6731-00x0
Index 1A86 DPM TxPDO-Map Cycle Statistics
Index (hex) Name
1A86:0 DPM TxPDO-Map Cy-
cle Statistics
1A86:01 SubIndex 001
1A86:02 SubIndex 002
1A86:03 SubIndex 003
1A86:04 SubIndex 004
1A86:05 SubIndex 005
Index 1A87 DPM TxPDO-Map DC Cyclic Statistics
Index (hex) Name
1A87:0 DPM TxPDO-Map DC
Cyclic Statistics
1A87:01 SubIndex 001
1A87:02 SubIndex 002
1A87:03 SubIndex 003
1A87:04 SubIndex 004
1A87:05 SubIndex 005
1A87:06 SubIndex 006
Index 1A88 DPM TxPDO-Map Redundancy Status
Index (hex) Name
1A88:0 DPM TxPDO-Map
Redundancy Status
1A88:01 SubIndex 001
1A88:02 SubIndex 002
1A88:03 SubIndex 003
1A88:04 SubIndex 004
1A88:05 SubIndex 005
Index 1C00 Sync manager type
Index (hex) Name
1C00:0 Sync manager type
1C00:01 SubIndex 001
1C00:02 SubIndex 002
1C00:03 SubIndex 003
1C00:04 SubIndex 004
148
Meaning
PDO Mapping TxPDO 135 contains the DP master cycle
statistics (object 0xF10F [} 157]) for the SM synchronous
mode
st
1 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x03 (Cycle Time))
nd
2 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x04 (Cycle Distance Time))
rd
3 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x05 (Output Calc And Copy Time))
th
4 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x06 (Input Calc And Copy Time))
th
5 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x07 (Output Delay Time))
Meaning
PDO Mapping TxPDO 136 contains the DP master cycle
statistics (object 0xF10F [} 157]) for the DC mode
st
1 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x03 (Cycle Time))
nd
2 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x04 (Cycle Distance Time))
rd
3 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x05 (Output Calc And Copy Time))
th
4 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x06 (Input Calc And Copy Time))
th
5 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x07 (Output Delay Time))
th
6 PDO Mapping entry (object 0xF10F (Cycle Statistic
data), entry 0x08 (SM/SYNC Event Distance Time))
Meaning
PDO Mapping TxPDO 137
st
1 PDO Mapping entry (object 0xF118, entry 0x01)
nd
2 PDO Mapping entry (15 bits align)
rd
3 PDO Mapping entry (object 0xF118, entry 0x11)
th
4 PDO Mapping entry (object 0xF118, entry 0x12)
th
5 PDO Mapping entry (object 0xF118, entry 0x11)
Meaning
Using the sync managers
Sync-Manager Type Channel 1: Mailbox Write
Sync-Manager Type Channel 2: Mailbox Read
Sync-Manager Type Channel 3: Process Data Write
(Outputs)
Sync-Manager Type Channel 4: Process Data Read (In-
puts)
Version: 2.8
Data type Flags Default
UINT8 RW 0x05 (5
UINT32 RW 0xF10F:03, 16
UINT32 RW 0xF10F:04, 16
UINT32 RW 0xF10F:05, 16
UINT32 RW 0xF10F:04, 16
UINT32 RW 0xF10F:07, 16
Data type Flags Default
UINT8 RW 0x06 (6
UINT32 RW 0xF10F:03, 16
UINT32 RW 0xF10F:04, 16
UINT32 RW 0xF10F:05, 16
UINT32 RW 0xF10F:04, 16
UINT32 RW 0xF10F:07, 32
UINT32 RW 0xF10F:08, 32
Data type Flags Default
UINT8 RO 0x05 (5
UINT32 RO 0xF118:01, 1
UINT32 RO 0x0000:00, 15
UINT32 RO 0xF118:11, 16
UINT32 RO 0xF118:12, 16
UINT32 RO 0xF118:13, 16
Data type Flags Default
UINT8 RO 0x04 (4
UINT8 RO 0x01 (1
UINT8 RO 0x02 (2
UINT8 RO 0x03 (3
UINT8 RO 0x04 (4
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EL6731