Fig. 161 Process Data Tab Sm3, El72X1 (Default) - Beckhoff EL72 1 Series Documentation

Fig. 161: Process Data tab SM3, EL72x1 (default)
PDO Assignment
In order to configure the process data, select the desired Sync Manager (SM 2 & 3 can be edited) in the
upper left-hand "Sync Manager" box (see fig.). The process data assigned to this Sync Manager can then be
switched on or off in the "PDO Assignment" box underneath. Restarting the EtherCAT system, or reloading
the configuration in configuration mode (F4), causes the EtherCAT communication to restart, and the
process data is transferred from the terminal.
SM2, PDO assignment 0x1C12
Index Size (byte.bit)
0x1600 (default) 2.0
0x1601 (default) 4.0
0x1602 2.0
0x1603 2.0
0x1604 2.0
0x1605 2.0
0x1606 4.0
SM3, PDO Assignment 0x1C13
Index Size (byte.bit)
0x1A00 (default) 4.0
0x1A01 (default) 2.0
0x1A02 4.0
0x1A03 2.0
0x1A04 2.0
EL72x1
Name
DRV Controlword
DRV Target velocity
DRV Target torque
DRV Commutation angle
DRV Torque limitation
DRV Torque offset
DRV Target position
Name
FB Position
DRV Statusword
DRV Velocity actual value
DRV Torque actual value
DRV Info data 1
Version: 3.3
Commissioning
PDO content
Index 0x7010:01 [} 144]
Index 0x7010:06 [} 144]
Index 0x7010:09 [} 144]
Index 0x7010:0E [} 144]
Index 0x7010:0B [} 144]
Index 0x7010:0A [} 144]
Index 0x7010:05 [} 144]
PDO content
Index 0x6000:11 [} 142]
Index 0x6010:01 [} 143]
Index 0x6010:07 [} 143]
Index 0x6010:08 [} 143]
Index 0x6010:12 [} 143]
131