Fig. 165 Process Data Tab Predefined Pdo Assignment, El72X1 - Beckhoff EL72 1 Series Documentation

Predefined PDO Assignment
The "Predefined PDO Assignment" enables a simplified selection of the process data. The desired function is
selected on the lower part of the "Process Data" tab. As a result, all necessary PDOs are automatically
activated and the unnecessary PDOs are deactivated.
Three PDO assignments are available:
Name
Cyclic synchronous velocity mode
(CSV)
Cyclic synchronous torque mode
(CST)
Cyclic synchronous torque mode with
commutation angel (CSTCA)
Cyclic synchronous position mode
(CSP)
Fig. 165: Process data tab Predefined PDO Assignment, EL72x1
EL72x1
SM2, PDO assignment
0x1600 [} 163] (DRV
Controlword)
0x1601 [} 163] (DRV Target
velocity)
0x1600 [} 163] (DRV
Controlword)
0x1602 [} 163] (DRV Target
torque)
0x1600 [} 163] (DRV
Controlword)
0x1603 [} 163] (DRV
Commutation angle)
0x1600 [} 163] (DS402
Controlword)
0x1606 [} 164] (DS402 Target
position)
Version: 3.3
Commissioning
SM3, PDO assignment
0x1A00 [} 164] (FB Position)
0x1A01 [} 164] (DRV Statusword)
0x1A00 [} 164] (FB Position)
0x1A01 [} 164] (DRV Statusword)
0x1A03 [} 164] (DRV Torque actual
value)
0x1A01 [} 164] ( DRV Statusword)
0x1A00 [} 164] (DS402 Statusword)
0x1A01 [} 164] (DS402 Position
actual value)
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