Fig. 164 Process Data Tab Sm3, El72X1 (Default) - Beckhoff EL72 1 Series Documentation

Commissioning
Fig. 164: 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 4.0
Table 1: PDO assignment of sync managers, EL72x1
134
Name
DS402 Controlword
DS402 Target velocity
DS402 Target torque
DS402 Commutation angle
DS402 Torque limitation
DS402 Torque offset
DS402 Target position
Name
DS402 Statusword
DS402 Position actual value
DS402 Velocity actual value
DS402 Torque actual value
DS402 Following error actual
value
Version: 3.3
PDO content
Index 0x6040 [} 158]
Index 0x60FF [} 161]
Index 0x6071 [} 159]
Index 0x60EA [} 160]
Index 0x6072 [} 159]
Index 0x2001:11
Index 0x607A [} 159]
PDO content
Index 0x6041 [} 158]
Index 0x6064 [} 158]
Index 0x606C [} 159]
Index 0x6077 [} 159]
Index 0x60F4 [} 160]
EL72x1