Beckhoff EL6731 - Page 153

EtherCAT communication EL6731-00x0
EL6731 153Version: 2.8
6.1.3.2 Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Index 6000-67C0 DP Inputs Slave yyy
Index (hex) Name Meaning Data type Flags Default
6000+n*16:
0
DP Inputs Slave yyy This object exists for each configured DP slave and con-
tains the DP input data of the DP slave. There is an entry
in the input data object 0x6000+(n*16) for each DP mod-
ule with DP input data configured in object 0x8002
[}155]+(n*16). DP module m thereby corresponds to
SubIndex m; if a DP module does not contain any DP in-
put data, then this SubIndex does not exist. If a DP slave
does not contain any DP input data, then object
0x6000+(n*16) does not exist. SubIndex 0 contains the
number of DP modules of the (n+1)
th
configured DP
slave.
UINT8 RO
(6000+n*16)
:01
if the first DP module has DP input data: DP input data of
the first DP module
OCTET-
STRING
RO
...
(6000+n*16)
:m
if the m
th
DP module has DP input data: DP input data of
the m
th
DP module
OCTET-
STRING
RO
Index 7000-77C0 DP Outputs Slave yyy
Index (hex) Name Meaning Data type Flags Default
7000+n*16:
0
DP Outputs Slave yyy This object exists for each configured DP slave and con-
tains the DP output data of the DP slave. There is an en-
try in the input data object 0x7000+(n*16) for each DP
module with DP output data configured in object 0x8002
[}155]+(n*16). DP module m thereby corresponds to
SubIndex m; if a DP module does not contain any DP
output data, then this SubIndex does not exist. If a DP
slave does not contain any DP output data, then object
0x7000+(n*16) does not exist. SubIndex 0 contains the
number of DP modules of the (n+1)
th
configured DP
slave.
UINT8 RO
(7000+n*16)
:01
if the first DP module has DP output data: DP output data
of the first DP module
OCTET-
STRING
RO
...
(7000+n*16)
:F4
if the m
th
DP module has DP output data: DP output data
of the m
th
DP module
OCTET-
STRING
RO