Beckhoff EL6731 Documentation page 149

Index 1C12 RxPDO assign
Index (hex) Name
1C12:0 RxPDO assign
1C12:01
...
1C12:7E
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0 TxPDO assign
1C13:01
...
1C13:86
EL6731
Meaning
PDO Assign Outputs: the RxPDOs must be assigned in
the order of their indexes. The RxPDOs of the configured
DP slaves (0x1600 [} 144]-0x167E) must be assigned if
object 0x1C12 is transmitted in the StartUp SDOs.
st
1 allocated RxPDO (contains the index of the associ-
ated RxPDO mapping object)
th
126 allocated RxPDO (contains the index of the associ-
ated RxPDO mapping object)
Meaning
PDO Assign Inputs: the TxPDOs must be assigned in the
order of their indexes. The TxPDOs of the configured DP
slaves (0x1A00 [} 146]-0x1A7C) must be assigned if ob-
ject 0x1C13 is transmitted in the StartUp SDOs. It can
then still be decided via TxPDO Assign whether or not
the TxPDOs PDO State (index 0x1A81 [} 146]), PDO
Toggle (index 0x1A82 [} 147]), DP Diag (index 0x1A83
[} 147]), DP Status (index 0x1A84 [} 147]), DP Master
Diag (index 0x1A85 [} 147]), Cycle Statistics (index
0x1A86 [} 148]) and DC Cycle Statistics (index 0x1A87
[} 148]) are transferred to the EtherCAT input data.
st
1 allocated TxPDO (contains the index of the associated
TxPDO mapping object)
th
134 allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
Version: 2.8
EtherCAT communication EL6731-00x0
Data type Flags
UINT8 RW
Data type Flags
UINT8 RW
UINT16 RW
UINT16 RW
Default
0x00 (0 )
dec
Default
149