Beckhoff EL6731 Documentation page 167

Index 1A00 DPS TxPDO-Map Slave
Index (hex) Name
1A00:0 DPS TxPDO-Map
Slave
1A00:01
...
1A00:m
Index 1A7F TxPDO-Map Status PDO
Index (hex) Name
1A7F:0 TxPDO-Map Status
PDO
1A7F:01
1A7F:02
1A7F:03
1A7F:04
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
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0 RxPDO assign
1C12:01
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0 TxPDO assign
1C13:01
1C13:02
EL6731
Meaning
This TxPDO contains the DP output data of the DP slave
that were received by the DP master. There is an entry in
the TxPDO mapping object 0x1A00 for each DP module
with DP output data configured in object 0x8002 [} 170].
If the DP slave does not contain any DP output data,
then the PDO mapping object 0x1A00 does not exist.
This PDO is mandatory and must always be contained in
the PDO Assign object 0x1C13 [} 167] . SubIndex 0 con-
tains the number of DP modules with DP output data of
the DP slave.
first DP module with DP output data of the DP slave
..
last DP module with DP output data of the DP slave
Meaning
This PDO contains the status information of the DP slave
(object 0xF100 [} 171])
st
1 PDO Mapping entry (object 0xF100 (DP Status), entry
0x01 (DP Communication Status))
nd
2 PDO Mapping entry (6 Bit Align)
rd
3 PDO Mapping entry (object 0xF100 (DP Status), entry
0x0F (TxPDO State))
th
4 PDO Mapping entry (object 0x1800 (TxPDO-Par Sta-
tus PDO), entry 0x09 (TxPDO Toggle))
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)
Meaning
PDO Assign Outputs: if the DP slave has DP inputs that
are sent to the DP master, then the RxPDO Assign con-
tains the RxPDO 0x1600, otherwise it is empty
(SubIndex 0 = 0)
st
1 assigned RxPDO (index 0x1600)
Meaning
PDO Assign Inputs: if the DP slave has DP outputs that
are received by the DP master, then the TxPDO Assign
contains the TxPDOs 0x1A00 and 0x1A7F, otherwise
only the TxPDO 0x1A7F
st
1 assigned TxPDO (index 0x1A00)
nd
2 assigned TxPDO (index 0x1A7F)
Version: 2.8
EtherCAT communication EL6731-00x0
Data type Flags
UINT8 RO
UINT32 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
UINT32 RO
UINT32 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT8 RO
UINT8 RO
UINT8 RO
UINT8 RO
Data type Flags
UINT8 RW
UINT16 RW
Data type Flags
UINT8 RW
UINT16 RW
UINT16 RW
Default
Default
4
0xF100:01, 08
0x0000:00, 06
0xF100:0F, 01
0x1800:09, 01
Default
0x04 (4 )
dec
0x01 (1 )
dec
0x02 (2 )
dec
0x03 (3 )
dec
0x04 (4 )
dec
Default
0x01 (1 )
dec
0x1600
(5632 )
dec
Default
0x02 (2 )
dec
0x1A00
(6656 )
dec
0x1A7F
(6783 )
dec
167