EtherCAT communication EL6731-00x0
EL6731164 Version: 2.8
PROFIBUS with automatic baud rate search. Subsequently, DP slave configuration is generated in object
0x8002. If the PREOP state is quit, the current DP configuration can be read from objects 0x8000 and
0x8002.
PDO Mapping / PDO Assign
In addition, the EtherCAT master can also read the PDO Mapping and PDO Assign in the PREOP state in
order to determine the lengths of the EtherCAT process data.
Creating the Backup Parameter Storage
The Backup Parameter Storage can be created as follows:
1. Download object 0x10F2 (in PREOP without having sent StartUp SDOs beforehand): in this case the data
received will be saved as Backup Parameter Storage in the flash memory
Deleting the Backup Parameter Storage
In order to load a new Backup Parameter Storage or to simply delete the existing one, the value
0x64616F6C has to be written to entry 0x1011:01.
6.2.2 Object description and parameterization
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec-
ommend downloading the latest XML file from the download area of the Beckhoff website and in-
stalling it according to installation instructions.
Parameterization via the CoE list (CAN over EtherCAT)
The EtherCAT device is parameterized via the CoE-Online tab (double-click on the respective ob-
ject) or via the Process Data tab (allocation of PDOs). Please note the following general CoE notes
[}32] when using/manipulating the CoE parameters:
• Keep a startup list if components have to be replaced
• Differentiation between online/offline dictionary, existence of current XML description
• use “CoE reload” for resetting changes
6.2.2.1 Standard objects (0x1000-0x1FFF)
The standard objects have the same meaning for all EtherCAT slaves.
Index 1000 Device type
Index (hex) Name Meaning Data type Flags Default
1000:0 Device type Device type of the EtherCAT slave: The Lo-Word con-
tains the CoE profile used (5001). The Hi-Word contains
the module profile according to the modular device pro-
file.
UINT32 RO 0x0C1D1389
(203232137
dec
)
Index 1008 Device name
Index (hex) Name Meaning Data type Flags Default
1008:0 Device name Device name of the EtherCAT slave STRING RO EL6731-0010
Index 1009 Hardware version
Index (hex) Name Meaning Data type Flags Default
1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO
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