Beckhoff EtherCAT EL6021 User Manual

Commissioning
EL600x, EL602x 125Version: 4.6
SM2, PDO assignment 0x1C13
Index Index of ex-
cluded
PDOs
Size
(byte.bit)
Name PDO content
0x1A00 - 24.0 COM Inputs Channel1 Index 0x6000:01 - Status__Transmit
accepted
Index 0x6000:02 - Status__Receive
request
Index 0x6000:03 - Status__Init
accepted
Index 0x6000:04 - Status__Buffer
full
Index 0x6000:05 - Status__Input
length
Index 0x6000:06 - Status__Framing
error
Index 0x6000:07 - Status__Overrun
error
Index 0x6000:09 - Status__Input
length
Index 0x6000:11 - Data in 0
--
Index 0x6000:26
0x1A01 - 24.0 COM Inputs Channel2 Index 0x6010:01
Index 0x6010:02
Index 0x6010:03
Index 0x6010:04 - Status__Buffer
full
Index 0x6010:05
Index 0x6010:06
Index 0x6010:07
Index 0x6010:09
Index 0x6010:11
--
Index 0x6010:26
0x1A04(defa
ult)
- 24.0 COM Inputs Channel1 Index 0x6001:01
Index 0x6000:11
--
Index 0x6000:26
0x1A05(defa
ult)
- 24.0 COM Inputs Channel2 Index 0x6011:01
Index 0x6010:11
--
Index 0x6010:26
Features and application notes
Optional features are generally set in the CoE directory (CAN over EtherCAT, index 0x80n0).
Parameterization via the CoE list (CAN over EtherCAT)
Please note the following general CoE information when using/manipulating the CoE parameters: -
Keep a startup list if components have to be replaced - Differentiate between online/offline dictio-
nary, ensure existence of current XML description - use “CoE reload” for resetting changes Please
note especially for the EL60xx, if any changes are made to the communication settings (baud rate,
data frame, feature bits), anInitRequestvia the control word is required to apply the changes.

Beckhoff EtherCAT EL6021 Specifications

General

Brand	Beckhoff
Model	EtherCAT EL6021
Category	I/O Systems
Language	English