Commissioning
EL600x, EL602x122 Version: 4.6
5.4 Operating modes and process data
Version notes
The single-channel EL60x1 has been developed and enhanced over a number of years. Through further
development of the EL6001/EL6021 the following functional extensions have been implemented:
• from firmware (FW)05/hardware(HW) 03, (EL6001); firmware (FW)04/hardware(HW) 03, (EL6021)
the objects for status monitoring and parameterization are also available from index 0x6000 (profile-
specific objects) and can be parameterized in the TwinCAT System Manager, depending on the
hardware.
• from firmware (FW)06/hardware(HW) 03, (EL6021) the command mode [}127] is supported
• from firmware 08 (EL6001) the 16-bit process data interface for sending/receiving of > 8bit is
supported
• from firmware 11 (EL6001) all integer baud rates 1000…115200 baud can be used.
•
Older versions of the EL6001/EL6021 do not support this functionality!
from FW/HW ESI Control/status/parameterizing objects
area
EL6001 01/01
EL6021 01/01
from EL6001-0000-0000
from EL6021-0000-0000
Index 0x300n:01 (Control-Word)
Index 0x310n:01 (Status-Word)
Index 0x4070 (Data bytes in send buffer)
Index 0x4071 (Data bytes in receive buffer)
Index 0x4072 (Diagnosis)
Index 0x4073 (Baud rate)
Index 0x4074 (Data frame)
Index 0x4075 (Feature bits)
EL6001 05/03
EL6021 04/03
from EL6001-0000-0016
from EL6021-0000-0016
in addition to the above described objects:
Index 0x6000 (COM inputs)
Index 0x7000 (COM outputs)
Index 0xA000 (COM Diag data
Index 0x8000 (COM settings)
EL6021 06/03 from EL6021-0000-0018 in addition to the above described objects:
Index 0xB000 (Command)
EL6001 08/03 from EL6001-0000-0019 in addition to the above described objects:
Objects for 16-bit PDO
EL6001 11/11 from EL6001-0000-0020 All baud rates 1000…115200 via
explicitBaudrate implemented
The EL6002/EL6022 devices with revision -0016 already feature objects in the 6000, 7000 and 8000 range
from the first release.
Compatibility in the case of service
Example: An EL6001/EL6021 employed and projected with Hardware03 or higher cannot be re-
placed by an EL6001/EL6021 with an older hardware version (<03)! The reverse case can be imple-
mented without problem!
Process data monitoring
• WcState: if ≠ 0, this EtherCAT device does not take part in the process data traffic
• State: if ≠ 8, the EtherCAT device is not in OP (operational) status
• TxPDO state, SyncError: if ≠ 0, then no valid process data are available, e.g. caused by broken
wire
• TxPDO Toggle: if this bit is toggling, a new set of process data is available
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