Beckhoff EL6731 User Manual

Parameterization and commissioning
EL6731 51Version: 2.8
5.1.5.5 FDL interface
The FDL interface can be used to send FDL telegrams and pick up received FDL telegrams via ADS [}42].
This functionality is supported by the FC31xx from V02.66 and the EL6731 from V00.75.
FDL send
ADS Write can be used to transfer one or several FDL requests or FDL responses. The FDL requests were
sent in the specified order, the FDL responses are sent when they are retrieved by another master.
ADS-Write parameters Meaning
Net-ID
Net-ID of the master (see the device's ADS [}92] tab)
Port 200
IndexGroup 0xF400
IndexOffset 0
Length Data length
Data Byte Offset Meaning
0 Cmd: 1=request follows, 3=response follows, 255=enable reception for
FDL service on all SAPs (no further data (length=1))
1 Request 0
Response 0=send single, 1=send multiple
2 DA byte (bit 7 indicates whether a DSAP exists)
3 SA byte (bit 7 indicates whether an SSAP exists)
4 Request Request: 0x03=SDA low, 0x05=SDA high, 0x04=SDN
low, 0x06=SDN high, 0x0C=SRD low, 0x0D=SRD high
Response Response: 0x08=DL, 0x0A=DH
5 Length of the following bytes of the request or response
6 if DA.7=1: DSAP otherwise if SA.7=1: SSAP otherwise first data byte
7 if DA.7=1 and SA.7=1: SSAP otherwise if DA.7=1 or SA.7=1 first data
byte otherwise second data byte
8 if DA.7=1 and SA.7=1: first data byte otherwise if DA.7=1 or SA.7=1
second data byte otherwise third data byte
9-n further data of the request or response
n+1 perhaps next Cmd: 1=request follows, 3=response follows
... ...

Beckhoff EL6731 Specifications

General

Product Name	EL6731
Bus system	EtherCAT
Number of RS232 interfaces	1
Number of RS485 interfaces	1
Supply Voltage	24 V DC (-15 %/+20 %)
Relative Humidity	95 %, no condensation
Protection Class	IP20
Vibration/shock resistance	conforms to EN 60068-2-6/EN 60068-2-27
EMC immunity/emission	conforms to EN 61000-6-2/EN 61000-6-4
Approval	CE, UL, ATEX
Interface	RS232/RS485
Number of RS422 interfaces	0
Number of current loop interfaces	0
Galvanic isolation	500 V
Data Bits	8
Stop Bits	1, 2
Parity	None, Even, Odd
Current Consumption	Typically 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.

5.1.6.2.2 Bus Parameters and Startup/Fault Settings

5.1.6.3 TwinCAT Box Tree Configuration

5.1.6.3.1 Profibus and Features Tabs

5.1.6.3.4 Process Data and Diag Tabs

5.1.7 PROFIdrive MC Drives Operation

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

5.1.7.1 I/O Configuration and Fieldbus Setup

5.1.8 Diagnostics and Error Description

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

5.1.8.1 LED Indicators and Error Reactions

5.1.8.5 DP State of the Slaves

5.1.8.8 DPV1 and ADS Error Codes

5.1.9 Slave Prioritization and Multiple DP Cycles

5.2 EL6731-0010 PROFIBUS Slave Terminal

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

6.2.1 State Machine and Object Description

6 EtherCAT Communication EL6731-00x0

6.1 PROFIBUS Master Configuration

Details configuring the EL6731 as a PROFIBUS master within EtherCAT.

6.1.2 Synchronization

6.1.3 Object Description and Parameterization

6.2 PROFIBUS Slave Configuration (EL6731-0010)

6.2.2 Object Description and Parameterization