Fig. 209 Process Data Tab - Predefined Pdo Assignment, El72X1-0010 - Beckhoff EL72 1-901 Series Manual

Name
Cyclic synchronous velocity mode (CSV)
Cyclic synchronous torque mode (CST)
Cyclic synchronous torque mode with commu-
tation angle (CSTCA)
Cyclic synchronous position mode (CSP)
Fig. 209: Process data tab - Predefined PDO Assignment, EL72x1-0010
EL72x1-901x
SM2, PDO assignment
0x1600 [} 227] (DS402 Controlword)
0x1601 [} 227] (DS402 Target velocity)
0x1600 [} 227] (DS402 Controlword)
0x1602 [} 227] (DS402 Target torque)
0x1600 [} 227] (DS402 Controlword)
0x1602 [} 227] (DS402 Target torque)
0x1603 [} 227] (DS402 Commutation an-
gle)
0x1600 [} 227] (DS402 Controlword)
0x1606 [} 228] (DS402 Target position)
Version: 1.9
Commissioning
SM3, PDO assignment
0x1A00 [} 228] (DS402 Statusword)
0x1A01 [} 228] (DS402 Position actual
value)
0x1A00 [} 228] (DS402 Statusword)
0x1A01 [} 228] (DS402 Position actual
value)
0x1A03 [} 228] (DS402 Torque actual value)
0x1A00 [} 228] (DS402 Statusword)
0x1A00 [} 228] (DS402 Statusword)
0x1A01 [} 228] (DS402 Position actual
value)
175