Beckhoff EL72 1-901 Series Manual page 203

Index 10F0 Backup parameter handling
Index (hex) Name
10F0:0 Backup parameter
handling
10F0:01 Checksum
Index 1600 DRV RxPDO-Map Controlword
Index (hex) Name
1600:0 DRV RxPDO-Map
Controlword
1600:01 SubIndex 001
Index 1601 DRV RxPDO-Map Target velocity
Index (hex) Name
1601:0 DRV RxPDO-Map Tar-
get velocity
1601:01 SubIndex 001
Index 1602 DRV RxPDO-Map Target torque
Index (hex) Name
1602:0 DRV RxPDO-Map Tar-
get torque
1602:01 SubIndex 001
Index 1603 DRV RxPDO-Map Commutation angle
Index (hex) Name
1603:0 DRV RxPDO-Map
Commutation angle
1603:01 SubIndex 001
Index 1604 DRV RxPDO-Map Torque limitation
Index (hex) Name
1604:0 DRV RxPDO-Map
Torque limitation
1604:01 SubIndex 001
Index 1605 DRV RxPDO-Map Torque offset
Index (hex) Name
1605:0 DRV RxPDO-Map
Torque offset
1605:01 SubIndex 001
Index 1606 DRV RxPDO-Map Target position
Index (hex) Name
1606:0 DRV RxPDO-Map Tar-
get position
1606:01 SubIndex 001
EL72x1-901x
Meaning
Information for standardized loading and saving of
backup entries
Checksum across all backup entries of the EtherCAT
slave
Meaning
PDO Mapping RxPDO 1
1. PDO Mapping entry (object 0x7010 (DRV Outputs),
entry 0x01 (Controlword))
Meaning
PDO Mapping RxPDO 2
1. PDO Mapping entry (object 0x7010 (DRV Outputs),
entry 0x06 (Target velocity))
Meaning
PDO Mapping RxPDO 3
1. PDO Mapping entry (object 0x7010 (DRV Outputs),
entry 0x09 (Target torque))
Meaning
PDO Mapping RxPDO 4
1. PDO Mapping entry (object 0x7010 (DRV Outputs),
entry 0x0E (Commutation angle))
Meaning
PDO Mapping RxPDO 5
1. PDO Mapping entry (object 0x7010 (DRV Outputs),
entry 0x0B (Torque limitation))
Meaning
PDO Mapping RxPDO 6
1. PDO Mapping entry (object 0x7010 (DRV Outputs),
entry 0x0A (Torque offset))
Meaning
PDO Mapping RxPDO 7
1. PDO Mapping entry (object 0x7010 (DRV Outputs),
entry 0x05 (Target postion))
Version: 1.9
Object description and parameterization
Data type Flags
UINT8 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
Data type Flags
UINT8 RO
UINT32 RO
Default
0x01 (1 )
dec
0x00000000
(0 )
dec
Default
0x01 (1 )
dec
0x7010:01, 16
Default
0x01 (1 )
dec
0x7010:06, 32
Default
0x01 (1 )
dec
0x7010:09, 16
Default
0x01 (1 )
dec
0x7010:0E, 16
Default
0x01 (1 )
dec
0x7010:0B, 16
Default
0x01 (1 )
dec
0x7010:0A, 16
Default
0x01 (1 )
dec
0x7010:05, 32
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