Command Object; Input/Output Data - Beckhoff EL72 1 Series Documentation

8.3

Command object

Index FB00 Command
Index Name Meaning
(hex)
FB00:0 DCM Max. subindex
Com-
mand
FB00:01 Request 0x1000
0x1100
0x1101
0x1102
0x8000
FB00:02 Status 0
1
2
3
255
FB00:03 Re- dependent on the request
sponse
8.4

Input/output data

Index 2001 Outputs
Index (hex) Name
2001:0 Outputs
2001:11 Torque offset
Index 603E TxPDO Data invalid
Index (hex) Name
603E:0 TxPDO Data invalid
603E:02 Position actual value
EL72x1
EL72x1-0001 (DS402) - Object description and parameterization
Clear diag history Clear the Diag History
Get build number Read out the build number
Get build date Read out the build date
Get build time Read out the build time
Software reset Perform a software reset (hardware is re-initial-
ized with the current CoE configuration; this oth-
erwise happens only during the transition to
INIT)
Finished, Command terminated without error and without
no error, response
no response
Finished, Command terminated without error and with re-
no error, sponse
response
Finished, Command terminated with error and without re-
error, sponse
no response
Finished, Command terminated with error and with re-
error, sponse
response
Executing Command is being executed
Meaning
Maximum subindex
Torque value offset
The value is specified in 1000th of the rated current
Formula for Index 2002:54 [} 154] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (2003:16 [} 155])
Formula for Index 2002:54 [} 154] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (2003:16 [} 155])
Meaning
Max. Subindex
0: The current position is valid
1: The current position is invalid
Version: 3.3
Data type Flags Default
UINT8 RO 0x03 (3
OCTET- RW {0}
STRING[2]
UINT8 RO 0x00 (0
OCTET- RO {0}
STRING[4]
Data type Flags Default
UINT8 RO 0x11 (17
INT16 RO 0x0000 (0
Data type Flags Default
UINT8 RO 0x02 (2
BOOLEAN RO P 0
)
dec
)
dec
)
dec
)
dec
)
dec
157