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Beckhoff EL6731 User Manual

Beckhoff EL6731
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Parameterization and commissioning
EL6731122 Version: 2.8
5.1.8.6 Configuration Data - CfgData
The CfgData describes the structure and length of the input and output data that is to be cyclically
exchanged via Data_Exchange. There follows a description of the DP configuration data bytes
Bits 4-7 Meaning
0000B Module without data. Bits 0-3 indicate how many bytes of manufacturer-specific data are still to
follow.
0001B Inputs of type byte, with no consistency. Bits 0-3 contain the length of the input data minus 1 (i.e.
bits 0-3 = 0000B corresponds to a length of one byte, while bits 0-3 = 1111B corresponds to a
length of 16 bytes)
0010B Outputs of type byte, with no consistency. Bits 0-3 contain the length of the output data minus 1
(i.e. bits 0-3 = 0000B corresponds to a length of one byte, while bits 0-3 = 1111B corresponds to
a length of 16 bytes)
0011B Inputs and outputs of type byte, with no consistency. Bits 0-3 contain the length of the input or
output data minus 1 (i.e. bits 0-3 = 0000B corresponds to a length of one byte, while bits 0-3 =
1111B corresponds to a length of 16 bytes)
0100B A special identification format for inputs. A byte follows that describes the associated input data
(see below). Bits 0-3 indicate how many bytes of manufacturer-specific data are still to follow.
0101B Inputs of type word, with no consistency. Bits 0-3 contain the length of the input data minus 1 (i.e.
bits 0-3 = 0000B corresponds to a length of one word, while bits 0-3 = 1111B corresponds to a
length of 16 words)
0110B Outputs of type word, with no consistency. Bits 0-3 contain the length of the output data minus 1
(i.e. bits 0-3 = 0000B corresponds to a length of one word, while bits 0-3 = 1111B corresponds to
a length of 16 words)
0111B Inputs and outputs of type word, with no consistency. Bits 0-3 contain the length of the input or
output data minus 1 (i.e. bits 0-3 = 0000B corresponds to a length of one word, while bits 0-3 =
1111B corresponds to a length of 16 words)
1000B A special identification format for outputs. A byte follows that describes the associated output
data (see below). Bits 0-3 indicate how many bytes of manufacturer-specific data are still to
follow.
1001B Inputs of type byte, with consistency. Bits 0-3 contain the length of the input data minus 1 (i.e.
bits 0-3 = 0000B corresponds to a length of one byte, while bits 0-3 = 1111B corresponds to a
length of 16 bytes)
1010B Outputs of type byte, with consistency. Bits 0-3 contain the length of the output data minus 1 (i.e.
bits 0-3 = 0000B corresponds to a length of one byte, while bits 0-3 = 1111B corresponds to a
length of 16 bytes)
1011B Inputs and outputs of type byte, with consistency. Bits 0-3 contain the length of the input or
output data minus 1 (i.e. bits 0-3 = 0000B corresponds to a length of one byte, while bits 0-3 =
1111B corresponds to a length of 16 bytes)
1100B A special identification format for inputs and outputs. A byte first follows that describes the
associated output data, and then one describing the associated input data (see below). Bits 0-3
indicate how many bytes of manufacturer-specific data are still to follow.
1101B Inputs of type word, with consistency. Bits 0-3 contain the length of the input data minus 1 (i.e.
bits 0-3 = 0000B corresponds to a length of one word, while bits 0-3 = 1111B corresponds to a
length of 16 words)
1110B Outputs of type word, with consistency. Bits 0-3 contain the length of the output data minus 1 (i.e.
bits 0-3 = 0000B corresponds to a length of one word, while bits 0-3 = 1111B corresponds to a
length of 16 words)
1111B Inputs and outputs of type word, with consistency. Bits 0-3 contain the length of the input or
output data minus 1 (i.e. bits 0-3 = 0000B corresponds to a length of one word, while bits 0-3 =
1111B corresponds to a length of 16 words)
If the first byte has the type "special identification format", then the second or third bytes have the following
meaning:

Table of Contents

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Beckhoff EL6731 Specifications

General IconGeneral
Product NameEL6731
Bus systemEtherCAT
Number of RS232 interfaces1
Number of RS485 interfaces1
Supply Voltage24 V DC (-15 %/+20 %)
Relative Humidity95 %, no condensation
Protection ClassIP20
Vibration/shock resistanceconforms to EN 60068-2-6/EN 60068-2-27
EMC immunity/emissionconforms to EN 61000-6-2/EN 61000-6-4
ApprovalCE, UL, ATEX
InterfaceRS232/RS485
Number of RS422 interfaces0
Number of current loop interfaces0
Galvanic isolation500 V
Data Bits8
Stop Bits1, 2
ParityNone, Even, Odd
Current ConsumptionTypically 70 mA
Storage Temperature-40...+85 °C

Summary

3 Mounting and Wiring

3.9 ATEX and UL Notices

Special conditions for ATEX use in explosive areas and UL certification information.

4 Basics of Communication

4.2 Watchdog Configuration

Explains SM and PDI watchdogs for terminal safety, their settings, and operational impact.

4.4 CoE Interface Details

Details the CoE interface for parameter management, object structure, and relevant ranges.

5 Parameterization and Commissioning

5.1 EL6731 PROFIBUS Master Terminal Configuration

Comprehensive guide to configuring the EL6731 as a PROFIBUS master.

5.1.1 PROFIBUS Protocols and DP Operation

Covers PROFIBUS protocols (DP, DPV1, DPV2) and standard DP operation setup.

5.1.4 Synchronization and ADS Services

Details synchronization methods and ADS acyclic services for data communication.

5.1.6 TwinCAT System Manager Operations

Guides on using TwinCAT SM for EtherCAT device setup, driver settings, and device tree configuration.

5.1.6.2 EL6731 Device Tree Configuration

Configuration within TwinCAT tree: EL6731, Bus params, Startup/faults, MC/DP Diag, Box states, ADS tabs.

5.1.6.2.1 EL6731 Tab Parameters

Details parameters on the EL6731 tab: Station No., Baud rate, Operation Mode, Cycle Time.

5.1.7 PROFIdrive MC Drives Operation

Integration of PROFIdrive MC drives with TwinCAT NC/PTP for servo axis control.

5.1.8 Diagnostics and Error Description

Covers LED indicators, error reactions, slave diagnosis, and DPV1/ADS error codes.

5.2 EL6731-0010 PROFIBUS Slave Terminal

Configuration of the EL6731-0010 as a PROFIBUS slave within EtherCAT.

6 EtherCAT Communication EL6731-00x0

6.1 PROFIBUS Master Configuration

Details configuring the EL6731 as a PROFIBUS master within EtherCAT.

6.2 PROFIBUS Slave Configuration (EL6731-0010)

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