Beckhoff EL6731 - Page 149

EtherCAT communication EL6731-00x0
EL6731 149Version: 2.8
Index 1C12 RxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign 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.
UINT8 RW 0x00 (0
dec
)
1C12:01 1
st
allocated RxPDO (contains the index of the associ-
ated RxPDO mapping object)
...
1C12:7E 126
th
allocated RxPDO (contains the index of the associ-
ated RxPDO mapping object)
Index 1C13 TxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign 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.
UINT8 RW
1C13:01 1
st
allocated TxPDO (contains the index of the associated
TxPDO mapping object)
UINT16 RW
...
1C13:86 134
th
allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
UINT16 RW