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EL7031-0030 | Stepper Motor Terminal with additional analog inputs · 0 次阅读

PDO Assignment

  • In order to configure the process data, select the desired Sync Manager (SM 2 and 3 can be edited here) in the upper left-hand "Sync Manager" field (see fig. Process data tab SM2, EL70xx (default) and SM3, EL70xx (default)).
  • The process data assigned to this Sync Manager can then be switched on or off in the “PDO Assignment” box underneath.
  • Restarting the EtherCAT system, or reloading the configuration in configuration mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the terminal.

SM2, PDO assignment 0x1C12

Index

Index of excluded PDOs

Size (byte.bit)

Name

PDO content
index - name

0x1600 (default)

0x1601

4.0

ENC Control compact

0x7000:02 - Enable Latch extern on positive edge
0x7000:03 - Set counter
0x7000:04 - Enable Latch extern on negative edge
0x7000:11 - Set counter value (16-bit)

0x1601

0x1600

6.0

ENC Control

0x7000:02 - Enable Latch extern on positive edge
0x7000:03 - Set counter
0x7000:04 - Enable Latch extern on negative edge
0x7000:11 - Set counter value (32-bit)

0x1602 (default)

-

2.0

STM Control

0x7010:01 - Enable
0x7010:02 - Reset
0x7010:03 - Reduce torque

0x1603

0x1604
0x1605
0x1606

4.0

STM Position

0x7010:11 - Position

0x1604 (default)

0x1603
0x1605
0x1606

2.0

STM Velocity

0x7010:21 - Velocity

0x1605

0x1603
0x1604
0x1606

6.0

POS Control compact

0x7020:01 - Execute
0x7020:02 - Emergency stop
0x7020:11 - Target position

0x1606

0x1603
0x1604
0x1605

14.0

POS Control

0x7020:01 - Execute
0x7020:02 - Emergency stop
0x7020:11 - Target position
0x7020:21 - Velocity
0x7020:22 - Start type
0x7020:23 - Acceleration
0x7020:24 - Deceleration

0x1607

0x1603
0x1604
0x1605

14.0

POS Control 2

0x7021:03 – Enable auto start
0x7021:11 - Target position
0x7021:21 - Velocity
0x7021:22 - Start type
0x7021:23 - Acceleration
0x7021:24 - Deceleration

SM3, PDO Assignment 0x1C13

Index

Index of excluded PDOs

Size (byte.bit)

Name

PDO content

0x1A00 (default)

0x1A01

6.0

ENC Status compact

0x6000:02 - Latch extern valid
0x6000:03 - Set counter done
0x6000:04 - Counter underflow
0x6000:05 - Counter overflow
0x6000:0D - Status of extern latch
0x6000:0E - Sync error
0x6000:10 - TxPDO Toggle
0x6000:11 - Counter value (16-Bit)
0x6000:12 - Latch value (16-Bit)

0x1A01

0x1A00

10.0

ENC Status

0x6000:02 - Latch extern valid
0x6000:03 - Set counter done
0x6000:04 - Counter underflow
0x6000:05 - Counter overflow
0x6000:0D - Status of extern latch
0x6000:0E - Sync error
0x6000:10 - TxPDO Toggle
0x6000:11 - Counter value (32-Bit)
0x6000:12 - Latch value (32-Bit)

0x1A02

-

4.0

ENC Timest. compact

0x6000:16 - Timestamp

0x1A03 (default)

-

2.0

STM Status

0x6010:01 - Ready to enable
0x6010:02 - Ready
0x6010:03 - Warning
0x6010:04 - Error
0x6010:05 - Moving positive
0x6010:06 - Moving negative
0x6010:07 - Torque reduced
0x6010:0C - Digital input 1
0x6010:0D - Digital input 2
0x6010:0E - Sync error
0x6010:10 - TxPDO Toggle

0x1A04

-

4.0

STM Synchron info data

0x6010:11 - Info data 1
0x6010:12 - Info data 2

0x1A05

0x1A06

2.0

POS Status compact

0x6020:01 - Busy
0x6020:02 - in-Target
0x6020:03 - Warning
0x6020:04 - Error
0x6020:05 - Calibrated
0x6020:06 - Accelerate
0x6020:07 - Decelerate
0x6020:08 - Ready to execute

0x1A06

0x1A05

12.0

POS Status

0x6020:01 - Busy
0x6020:02 - in-Target
0x6020:03 - Warning
0x6020:04 - Error
0x6020:05 - Calibrated
0x6020:06 - Accelerate
0x6020:07 - Decelerate
0x6020:08 - Ready to execute
0x6020:11 - Actual position
0x6020:21 - Actual velocity
0x6020:22 - Actual drive time

0x1A07

-

4.0

STM Internal position

0x6010:14 - Internal position

0x1A08

-

4.0

STM External position

0x6010:15 - External position

0x1A09

-

4.0

POS actual position lag

0x6020:23 - Actual position lag

0x1A0A

0x1A0B

4.0

AI Standard Channel 1

0x6030:01 - Underrange
0x6030:02 - Overrange
0x6030:03 - Limit 1
0x6030:05 - Limit 2
0x6030:10 - TxPDO Toggle
0x6030:11 - Value

0x1A0B

0x1A0A

2.0

AI Compact Channel 1

0x6030:11 - Value

0x1A0C

0x1A0D

4.0

AI Standard Channel 2

0x6040:01 - Underrange
0x6040:02 - Overrange
0x6040:03 - Limit 1
0x6040:05 - Limit 2
0x6040:10 - TxPDO Toggle
0x6040:11 - Value

0x1A0D

0x1A0C

2.0

AI Standard Channel 2

0x6040:11 - Value