Beckhoff EL6731 Documentation page 166

EtherCAT communication EL6731-00x0
Index 10F2 Backup parameter storage
Index (hex) Name
10F2:0 Backup parameter
storage
Index 1600 DPS RxPDO-Map Slave
Index (hex) Name
1600:0 DPS RxPDO-Map
Slave
1600:01
...
1600:m
Index 187F TxPDO-Par Status PDO
Index (hex) Name
187F:0 TxPDO-Par Status
PDO
187F:06 Exclude TxPDOs
187F:07 TxPDO State
187F:09 TxPDO Toggle
166
Meaning
If this object is used, no StartUp SDOs may be transmit-
ted in the PREOP state, since the Backup Parameter
Storage contains the complete StartUp SDOs (see Con-
figuration of the EL6731-0010 with Backup Parameter
Storage). The EL6731-0010 is rebooted 5s after the
flashing of the Backup Parameter Storage (switches to
INIT with AL status code = 0x60). The data have the fol-
lowing meaning:
Word-Offset Description
0 Command: with 0xC0DE, the received data
are stored in the flash memory
1 Length of the data from word offset 4 in
bytes
2-3 Checksum, which is calculated locally
4 Index of the object of the 1
5 len1: Length of the object of the 1
SDO as CompleteAccess (from SubIndex
0) in bytes
6-n1 Data of the object of the 1
CompleteAccess (n1 = 2*((len1+1)/2)+5)
n1+1 Index of the object of the 2
n1+2 len2: Length of the object of the 2
SDO as CompleteAccess (from SubIndex
0) in bytes
(n1+3)-n2 Data of the object of the 2
as CompleteAccess (n2 =
2*((len2+1)/2)+n1+2)
...
m Index of the object of the 3
m+1 len3: Length of the object of the 3
SDO as CompleteAccess (from SubIndex
0) in bytes
(m+2)-n3 Data of the object of the 3
as CompleteAccess (n3 = 2*((len3+1)/2)+m
+1)
Meaning
This RxPDO contains the DP input data of the DP slave,
which are sent to the DP master. There is an entry in the
RxPDO mapping object 0x1600 for each DP module with
DP input data configured in object 0x8002 [} 170]. If the
DP slave does not contain any DP input data, then the
PDO mapping object 0x1600 does not exist. This PDO is
mandatory and must always be contained in the PDO As-
sign object 0x1C12 [} 167] . SubIndex 0 contains the
number of DP modules with DP input data of the DP
slave.
first DP module with DP input data of the DP slave
..
last DP module with DP input data of the DP slave
Meaning
PDO parameter TxPDO 129
Specifies the TxPDOs (index of TxPDO mapping objects)
that must not be transferred together with TxPDO 128
The TxPDO state is set if the DP slave is not exchanging
data
The TxPDO toggle becomes
Version: 2.8
Data type
OCTET-
STRING[n]
st
StartUp SDO
st
StartUp
st
StartUp SDO as
nd
StartUp SDO
nd
StartUp
nd
StartUp SDO
rd
StartUp SDO
rd
StartUp
rd
StartUp SDO
Data type
UINT8
UINT32
UINT32
Data type
UINT8
OCTET-
STRING[10]
BOOLEAN
BOOLEAN
Flags Default
RW
Flags Default
RO
RO
RO
Flags Default
RO 0x06 (6 )
dec
RO 80 1A 00 00
00 00 00 00
00 00
RO
RO
EL6731