Beckhoff EL72 1-901 Series Manual page 170

Commissioning
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
0x1607 2.0
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
0x1A05 2.0
0x1A06 4.0
0x1A07 2.0
0x1A08 4.0
0x1A09 4.0
0x1A0A 4.0
0x1A0B 4.0
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:
170
Name
DRV Controlword
DRV Target velocity
DRV Target torque
DRV Commutation angle
DRV Torque limitation
DRV Torque offset
DRV Target position
FB Touch probe control
Name
FB position
DRV Statusword
DRV Velocity actual value
DRV Torque actual value
DRV Info data 1
DRV Info data 2
DRV Following error actual value Index 0x6010:09 [} 196]
FB Touch probe status
FB Touch probe 1 pos. position
FB Touch probe 1 neg. position
FB Touch probe 2 pos. position
FB Touch probe 2 neg. position
Version: 1.9
PDO content
Index 0x7010:01 [} 198]
Index 0x7010:06 [} 198]
Index 0x7010:09 [} 198]
Index 0x7010:0E [} 198]
Index 0x7010:0B [} 198]
Index 0x7010:0A [} 198]
Index 0x7010:05 [} 198]
Index 0x7001:0
TP1 Enable
Index 0x7001:01 [} 197]
TP1 Continous
Index 0x7001:02 [} 197]
TP1 Trigger mode
Index 0x7001:03 [} 197]
TP1 Enable pos. edge
Index 0x7001:05 [} 197]
TP1 Enable neg. edge
Index 0x7001:06 [} 197]
TP2 Enable
Index 0x7001:09 [} 197]
TP2 Continous
TP2 Trigger mode
Index 0x7001:0A [} 197]
TP2 Enable pos. edge
Index 0x7001:0B [} 197]
TP2 Enable neg. edge
Index 0x7001:0D
[} 197]
Index 0x7001:0E [} 197]
PDO content
Index 0x6000:11 [} 195]
Index 0x6010:01 [} 196]
Index 0x6010:07 [} 196]
Index 0x6010:08 [} 196]
Index 0x6010:12 [} 196]
Index 0x6010:13 [} 196]
Index 0x6001:0
TP1 Enable
Index 0x6001:01 [} 196]
TP1 Pos. value stored
Index 0x6001:02 [} 196]
TP1 Neg. value stored
Index 0x6001:03 [} 196]
TP1 Input
Index 0x6001:08 [} 196]
TP2 Enable
Index 0x6001:09 [} 196]
TP2 Pos. value stored
Index 0x6001:0A [} 196]
TP2 Neg. value stored
TP2 Input
Index 0x6001:0B [} 196]
Index 0x6001:10 [} 196]
Index 0x6001:11 [} 196]
Index 0x6001:12 [} 196]
Index 0x6001:13 [} 196]
Index 0x6001:14 [} 196]
EL72x1-901x