Beckhoff EtherCAT EL6022 User Manual

Overview of CoE objects EL6001, EL6021
EL600x, EL602x 167Version: 4.6
Data transfer examples
The examples use the large process image.
• Initialization:
Control word Status word Comment
CW.15 ... CW.8 CW.7 ... CW.0 SW.15 ... SW.8 SW.7 ... SW.0
xxxx xxxx
bin
xxxx xxxx
bin
xxxx xxxx
bin
xxxx xxxx
bin
Start of data transmission
0000 0000
bin
0000 0100
bin
0000 0000
bin
0000 0000
bin
The controller requests terminal
initialization
00000000
bin
0000 0100
bin
0000 0000
bin
0000 0100
bin
Command is executed: Terminal
initialization is complete
00000000
bin
0000 0000
bin
0000 0000
bin
0000 0100
bin
The controller requests the terminal to
prepare for serial data exchange
00000000
bin
00000000
bin
00000000
bin
0000 0000
bin
Command is executed: Terminal is ready
for serial data exchange
• Data transfer from the controller to the terminal:
Control word Status word Comment
CW.15 ... CW.8 CW.7 ... CW.0 SW.15 ... SW.8 SW.7 ... SW.0
0000 0000
bin
0000 0000
bin
xxxx xxxx
bin
0000 x0x0
bin
Start of data transmission
0000 0010
bin
0000 0001
bin
xxxx xxxx
bin
0000 x0x0
bin
The controller requests transmission of 2
bytes by the terminal
0000 0010
bin
0000 0001
bin
xxxx xxxx
bin
0000 x0x1
bin
Command is executed: Terminal has
loaded 2 bytes into the transmission FIFO
0001 0000
bin
0000 0000
bin
xxxx xxxx
bin
0000 x0x1
bin
The controller requests transmission of 16
bytes by the terminal
0001 0000
bin
0000 0000
bin
xxxx xxxx
bin
0000 x0x0
bin
Command is executed: Terminal has
loaded 16 bytes into the transmission FIFO
• Data transfer from the terminal to the controller:
Control word Status word Comment
CW.15 ... CW.8 CW.7 ... CW.0 SW.15 ... SW.8 SW.7 ... SW.0
xxxx xxxx
bin
0000 000x
bin
0000 0000
bin
0000 000x
bin
Start of data transmission
xxxx xxxx
bin
0000 000x
bin
0000 0011
bin
0000 001x
bin
The terminal requests transfer of 3 bytes
from the controller
xxxx xxxx
bin
0000 001x
bin
0000 0011
bin
0000 001x
bin
Acknowledgement: Controller has received
3 bytes from the reception FIFO
xxxx xxxx
bin
0000 001x
bin
0001 0110
bin
0000 000x
bin
The terminal requests transfer of 22 bytes
from the controller
xxxx xxxx
bin
0000 000x
bin
0001 0110
bin
0000 000x
bin
Acknowledgement: Controller has received
22 bytes from the reception FIFO

Beckhoff EtherCAT EL6022 Specifications

General

Brand	Beckhoff
Model	EtherCAT EL6022
Category	I/O Systems
Language	English