Beckhoff EL72 1-901 Series Manual page 204

Object description and parameterization
Index 1607 FB RxPDO-Map Touch probe control
Index (hex) Name
1607:0 FB RxPDO-Map
Touch probe control
1607:01 SubIndex 001
1607:02 SubIndex 002
1607:03 SubIndex 003
1607:04 SubIndex 004
1607:05 SubIndex 005
1607:06 SubIndex 006
1607:07 SubIndex 007
1607:08 SubIndex 008
1607:09 SubIndex 009
1607:0A SubIndex 010
1607:0B SubIndex 011
1607:0C SubIndex 012
Index 1A00 FB TxPDO-Map Position
Index (hex) Name
1A00:0 FB TxPDO-Map Posi-
tion
1A00:01 SubIndex 001
Index 1A01 DRV TxPDO-Map Statusword
Index (hex) Name
1A01:0 DRV TxPDO-Map Sta-
tusword
1A01:01 SubIndex 001
Index 1A02 DRV TxPDO-Map Velocity actual value
Index (hex) Name
1A02:0 DRV TxPDO-Map Ve-
locity actual value
1A02:01 SubIndex 001
Index 1A03 DRV TxPDO-Map Torque actual value
Index (hex) Name
1A03:0 DRV TxPDO-Map
Torque actual value
1A03:01 SubIndex 001
204
Meaning
PDO Mapping RxPDO 8
1. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x01 (TP1 Enable))
2. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x02 (TP1 Continous))
3. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x03 (TP1 Trigger mode))
4. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x05 (TP1 Enable pos edge))
5. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x06 (TP1 Enable neg edge))
6. PDO Mapping entry (2 bits align)
7. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x09 (TP2 Enable))
8. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x0A (TP2 Continous))
9. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x0B (TP2 Trigger mode))
10. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x0D (TP2 Enable pos edge))
11. PDO Mapping entry (object 0x7001 (FB Touch
probe outputs), entry 0x0E (TP2 Enable neg edge))
12. PDO Mapping entry (2 bits align)
Meaning
PDO Mapping TxPDO 1
1. PDO Mapping entry (object 0x6000 (FB Inputs), en-
try 0x11 (Position))
Meaning
PDO Mapping TxPDO 2
1. PDO Mapping entry (object 0x6010 (DRV Inputs),
entry 0x01 (Statusword))
Meaning
PDO Mapping TxPDO 3
1. PDO Mapping entry (object 0x6010 (DRV Inputs),
entry 0x07 (Velocity actual value))
Meaning
PDO Mapping TxPDO 4
1. PDO Mapping entry (object 0x6010 (DRV Inputs),
entry 0x08 (Torque actual value))
Version: 1.9
Data type Flags Default
UINT8 RO 0x0C (12
UINT32 RO 0x7001:01, 1
UINT32 RO 0x7001:02, 1
UINT32 RO 0x7001:03, 2
UINT32 RO 0x7001:05, 1
UINT32 RO 0x7001:06, 1
UINT32 RO 0x0000:00, 2
UINT32 RO 0x7001:09, 1
UINT32 RO 0x7001:0A, 1
UINT32 RO 0x7001:0B, 2
UINT32 RO 0x7001:0D, 1
UINT32 RO 0x7001:0E, 1
UINT32 RO 0x0000:00, 2
Data type Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x6000:11, 32
Data type Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x6010:01, 16
Data type Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x6010:07, 32
Data type Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x6010:08, 16
EL72x1-901x
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dec