Beckhoff EL72 1-901 Series Manual page 196

Object description and parameterization
Index 6001 FB Touch probe inputs
Index (hex) Name
6001:0 FB Touch probe inputs Maximum subindex
6001:01 TP1 Enable
6001:02 TP1 pos value stored
6001:03 TP1 Neg value stored Negative value of Touchprobe 1 saved
6001:09 TP2 Enable
6001:0A TP2 pos value stored
6001:0B TP2 neg value stored
6001:11 TP1 pos position
6001:12 TP1 neg position
6001:13 TP2 pos position
6001:14 TP2 neg position
Index 6010 DRV Inputs
Index (hex) Name
6010:0 DRV Inputs
6010:01 Statusword
6010:03 Modes of operation
display
6010:06 Following error actual
value
6010:07 Velocity actual value
6010:08 Torque actual value
6010:12 Info data 1
6010:13 Info data 2
196
Meaning
Touchprobe 1 switched on
Positive value of Touchprobe 1 saved
Touchprobe 2 switched on
Positive value of Touchprobe 2 saved
Negative value of Touchprobe 2 saved
Positive value of Touchprobe 1
Unit: the given value must be multiplied by the corre-
sponding scaling factor [} 130]
Negative value of Touchprobe 1
Unit: the given value must be multiplied by the corre-
sponding scaling factor [} 130]
Positive value of Touchprobe 2
Unit: the given value must be multiplied by the corre-
sponding scaling factor [} 130]
Negative value of Touchprobe 2
Unit: the given value must be multiplied by the corre-
sponding scaling factor [} 130]
Meaning
Maximum subindex
Statusword
Bit 0: Ready to switch on
Bit 1: Switched on
Bit 2: Operation enabled
Bit 3: Fault
Bit 4: reserved
Bit 5: Quick stop (inverse)
Bit 6: Switch on disabled
Bit 7: Warning
Bit 8 + 9: reserved
Bit 10: TxPDOToggle (selection/deselection via
0x8010:01)
Bit 11: Internal limit active
Bit 12: (Target value ignored)
Bit 13 - 15: reserved
Modes of operation display.
Permitted values:
9: Cyclic synchronous velocity mode (CSV)
10: Cyclic synchronous torque mode (CST)
11: Cyclic synchronous torque mode with commutation
angle (CSTCA)
Following error
Unit: the given value must be multiplied by the corre-
sponding scaling factor [} 130]
Display of the current velocity value
Unit: see Index 0x9010:14 [} 201]
Display of current torque value
The value is specified in 1000th of the rated current
(0x8011:12)
Equation for index 8010:54 [} 190] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (8011:16 [} 193])
Equation for index 8010:54 [} 190] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (8011:16 [} 193])
Synchronous information (selection via subindex
0x8010:39 [} 190])
Synchronous information (selection via subindex
0x8010:3A [} 190])
Version: 1.9
Data type Flags Default
UINT8 RO 0x14 (20
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
UINT32 RO 0x00000000
(0
dec
UINT32 RO 0x00000000
(0
dec
UINT32 RO 0x00000000
(0
dec
UINT32 RO 0x00000000
(0
dec
Data type Flags Default
UINT8 RO 0x13 (19
UINT16 RO 0x0000 (0
UINT8 RO 0x00 (0
INT32 RO 0x00000000
(0
dec
INT32 RO 0x00000000
(0
dec
INT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
EL72x1-901x
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