Beckhoff EL72 1-901 Series Manual page 174

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) 2.0
0x1A01 (default) 4.0
0x1A02 4.0
0x1A03 2.0
0x1A04 4.0
0x1A05 2.0
0x1A06 4.0
0x1A07 4.0
0x1A08 4.0
0x1A09 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:
174
Name
DS402 Controlword
DS402 Target velocity
DS402 Target torque
DS402 Commutation angle
DS402 Torque limitation
DS402 Torque offset
DS402 Target position
DS402 FB Touch probe cfunc-
tion
Name
DS402 Statusword
DS402 Position actual value
DS402 Velocity actual value
DS402 Torque actual value
DS402 Following error actual
value
DS402 Touch probe status
DS402 Touch probe 1 pos. po-
sition
DS402 Touch probe 1 neg. po-
sition
DS402 Touch probe 2 pos. po-
sition
DS402 Touch probe 2 neg. po-
sition
Version: 1.9
PDO content
Index 0x6040 [} 218]
Index 0x60FF [} 222]
Index 0x6071 [} 220]
Index 0x60EA [} 222]
Index 0x6072 [} 220]
Index 0x2001:11 [} 218]
Index 0x607A [} 221]
Index 0x60B8 [} 221]
Bit 0 TP1 Enable
Bit 1 TP1 Continous
Bit 2 TP1 Trigger mode
Bit 4 TP1 Enable pos. edge
Bit 5 TP1 Enable neg. edge
Bit 8 TP2 Enable
Bit 9 TP2 Continous
Bit 10 TP2 Trigger mode
Bit 12 TP2 Enable pos. edge
Bit 13 TP2 Enable neg. edge
PDO content
Index 0x6041 [} 218]
Index 0x6064 [} 219]
Index 0x606C [} 219]
Index 0x6077 [} 220]
Index 0x60F4 [} 222]
Index 0x60B9 [} 221]
Bit 0 TP1 Enable
Bit 1 TP1 Pos. value stored
Bit 2 TP1 Neg. value stored
Bit 7 TP1 Input
Bit 8 TP2 Enable
Bit 9 TP2 Pos. value stored
Bit 10 TP2 Neg. value stored
Index 6001:10 TP2 Input
Index 0x60BA [} 221]
Index 0x60BB [} 221]
Index 0x60BC [} 222]
Index 0x60BD [} 222]
EL72x1-901x