Beckhoff EL72 1-901 Series Manual page 222

Object description and parameterization
Index 60BC Touch probe 2 positive edge
Index (hex) Name
60BC:0 Touch probe 2 positive
edge
Index 60BD Touch probe 2 negative edge
Index (hex) Name
60BD:0 Touch probe 2 nega-
tive edge
Index 60C2 Interpolation time period
Index (hex) Name
60C2:0 Interpolation time pe-
riod
60C2:01 Interpolation time pe-
riod value
60C2:02 Interpolation time in-
dex
Index 60D9 Supported functions
Index (hex) Name
60D9:0 Supported functions
Index 60DA Function settings
Index (hex) Name
60DA:0 Function settings
Index 60EA Commutation angle
Index (hex) Name
60EA:0 Commutation angle
Index 60F4 Following error actual value
Index (hex) Name
60F4:0 Following error actual
value
Index 60FF Target velocity
Index (hex) Name
60FF:0 Target velocity
Index 6403 Motor catalogue number
Index (hex) Name
6403:0 Motor catalogue num-
ber
222
Meaning
Positive position value of TP 2
Unit: the given value must be multiplied by the corre-
sponding scaling factor [} 130]
Meaning
Negative position value of TP 2
Unit: the given value must be multiplied by the corre-
sponding scaling factor [} 130]
Meaning
Maximum subindex x
This object shall indicate the configured interpolation
cycle time. The interpolation time period (sub-index
0x01) value shall be given in 10
ond).
The interpolation time index (sub-index 0x02) shall be
dimensionless.
Meaning
This object shall provide information on the supported
functions in the device.
Meaning
This object shall enable/disable supported functions in
the device.
Bit 0: Enable TxPDOToggle-Bit in Statusword: Bit 10
Bit 1: Enable input cycle counter in Statusword: Bit 13
Bit 2-31: reserved
Meaning
Electrical commutation angle (for the CSTCA mode)
Unit: 5.49 * 10-3 °
Meaning
Following error
Unit: the given value must be multiplied by the corre-
sponding scaling factor [} 130]
Meaning
This object shall indicate the configured target velocity
The velocity scaling can be found in object 0x6090
(Velocity encoder resolution)
Meaning
This is the order code from the electronic type plate of
the motor, e.g. AM8121-0F20-0000
Version: 1.9
Data type
INT32
Data type
INT32
Data type
UINT8
UINT8T8
(interpolation time index)
(sec-
INT8
Data type
UINT3232
Data type
UINT32
Data type
UINT16
Data type
INT32
Data type
INT32
Data type
STRING
Flags Default
RO 0x00000000
(0 )
dec
Flags Default
RO 0x00000000
(0 )
dec
Flags Default
RO 0x02 (2 )
dec
RO 0x00 (0 )
dec
RO 0x00 (0 )
dec
Flags Default
RO 0x00000000
(0 )
dec
Flags Default
RW 0x00000000
(0 )
dec
Flags Default
RO 0x0000 (0 )
dec
Flags Default
RO 0x00000000
(0 )
dec
Flags Default
RO 0x00000000
(0 )
dec
Flags Default
RO
EL72x1-901x