EtherCAT communication EL6731-00x0
EL6731146 Version: 2.8
Index 1887 DPM TxPDO-Par DC Cyclic Statistics
Index (hex) Name Meaning Data type Flags Default
1887:0 DPM TxPDO-Par DC
Cyclic Statistics
PDO parameter TxPDO 136 UINT8 RO 0x06 (6
dec
)
1887:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)
that must not be transferred together with TxPDO 136
OCTET-
STRING[10]
RO 80 1A 86 1A
00 00 00 00
00 00
Index 1A00-1A7C DPS TxPDO-Map Slave yyy
Index (hex) Name Meaning Data type Flags Default
1A00+n:0 DPS TxPDO-Map
Slave yyy
There is one TxPDO containing the DP input data of the
DP slave for each configured DP slave. There is an entry
in the TxPDO mapping object 0x1A00+n for each DP
module with DP input data configured in object 0x8002
[}155]+(n*16). If a DP slave does not contain any DP in-
put data, then the PDO mapping object 0x1A00+n does
not exist. These PDOs are mandatory and must always
be contained in the PDO Assign object 0x1C13 [}149],
depending on the configured DP slaves. SubIndex 0 con-
tains the number of DP modules with DP input data of
the (n+1)
th
configured DP slave.
UINT8 RO
(1A00+n):01 first DP module with DP input data of the (n+1)
th
config-
ured DP slave
UINT32 RO
... ..
(1A00+n):F
F
last DP module with DP input data of the (n+1)
th
config-
ured DP slave
UINT32 RO
Index 1A7F DPM TxPDO-Map Status PDO
Index (hex) Name Meaning Data type Flags Default
1A7F:0 DPM TxPDO-Map
Status PDO
PDO Mapping TxPDO 128 UINT8 RO 0x03 (3
dec
)
1A7F:01 SubIndex 001 1
st
PDO Mapping entry (object 0xF100, entry 0x01) UINT32 RO 0xF100:01, 8
1A7F:02 SubIndex 002 2
nd
PDO Mapping entry (7 bits align) UINT32 RO 0x0000:00, 7
1A7F:03 SubIndex 003 3
rd
PDO Mapping entry (object 0xF100, entry 0x0F) UINT32 RO 0xF100:0F, 1
Index 1A80 DPM TxPDO-Map PDO Status
Index (hex) Name Meaning Data type Flags Default
1A82:0 DPM TxPDO-Map
PDO Status
This PDO is assigned if Legacy Mapping (no MDP) is ac-
tive
UINT8 RO
1A82:01 first PDO mapping entry in the case of Legacy Mapping UINT32 RO
...
1A82:m last PDO mapping entry in the case of Legacy Mapping UINT32 RO
Index 1A81 DPM TxPDO-Map PDO State
Index (hex) Name Meaning Data type Flags Default
1A81:0 DPM TxPDO-Map
PDO State
In this PDO there is a bit for each configured DP slave
that is set if the latter is not in exchanging data (a more
detailed error cause can be found in 0xF102 [}157]:m for
the m
th
configured DP slave). If the bit is set, the data of
the associated TxPDO m is to be ignored. This PDO is
optional.
UINT8 RO
1A81:01 PDO state of the first configured DP slave (configured via
the objects 0x800z)
UINT32 RO
...
1A81:m PDO state of the last (m
th
) configured DP slave (config-
ured via the objects 0x800z+(m-1)*16 (1 <= m <= 127))
UINT32 RO
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