Input/Output Data - Beckhoff EL72 1-901 Series Manual

Object description and parameterization
7.2.4

Input/output data

Index 2001 Outputs
Index (hex) Name
2001:0 Outputs
2001:11 Torque offset
Index 2008 Inputs
Index (hex) Name
2008:0 Inputs
2008:01 Info data1
2008:01 Info data2
Index 603E TxPDO Data invalid
Index (hex) Name
603E:0 TxPDO Data invalid
603E:02 Position actual value
Index 6040 Controlword
Index (hex) Name
6040:0 Controlword
Index 6041 Statusword
Index (hex) Name
6041:0 Statusword
218
Meaning
Maximum subindex
Torque value offset
The value is specified in 1000th of the rated current
Equation for index 2002:54 [} 212] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (2003:16 [} 215])
Equation for index 2002:54 [} 212] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (2003:16 [} 215])
Meaning
Maximum subindex
Synchronous information (selection via subindex
2002:55 [} 212])
Synchronous information (selection via subindex
2002:56 [} 212])
Meaning
Max. subindex
0: The current position is valid
1: The current position is invalid
Meaning
DS402 Controlword [} 139]
Bit 0: Switch on
Bit 1: Enable voltage
Bit 2: reserved
Bit 3: Enable operation
Bit 4 - 6: reserved
Bit 7: Fault reset
Bit 8 - 15: reserved
Meaning
DS402 Statusword [} 139]
Bit 0: Ready to switch on
Bit 1: Switched on
Bit 2: Operation enabled
Bit 3: Fault
Bit 4: reserved
Bit 5: reserved
Bit 6: Switch on disabled
Bit 7: Warning
Bit 8 + 9: reserved
Bit 10: TxPDOToggle (selection/deselection via
0x60DA [} 222])
Bit 11: Internal limit active
Bit 12: (Target value ignored)
Bit 13 - 15: reserved
Version: 1.9
Data type Flags Default
UINT8 RO 0x11 (17
INT16 RO 0x0000 (0
Data type Flags Default
UINT8 RO 0x02 (2
UINT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
Data type Flags Default
UINT8 RO 0x02 (2
BOOLEAN RO P 0
Data type Flags Default
UINT16 RO 0x0000 (0
Data type Flags Default
UINT16 RO 0x0000 (0
EL72x1-901x
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dec
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dec
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dec
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dec
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dec
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dec
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dec
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dec