Beckhoff EL5032, Documentation

Page: 101 / 142

Commissioning
EL5032, EL5032-0090 101 Version: 2.4
Parameterization via the CoE list (CAN over EtherCAT)
The EtherCAT device is parameterized via the CoE-Online tab [
}
78] (double-click on the respective
object) or via the Process Data tab [
}
75] (allocation of PDOs). Please note the following general CoE
notes [
}
22] when using/manipulating the CoE parameters:
• Keep a startup list if components have to be replaced
• Differentiation between online/offline dictionary, existence of current XML description
• use “CoE reload” for resetting changes
6.7.1 Restore object
Index 1011 Restore default parameters
Index
(hex) Name Meaning Data type Flags Default
1011:0
Restore default parame-
ters [
}
138]
Restore default parameters UINT8 RO 0x01 (1
dec
)
1011:01 SubIndex 001 If this object is set to " 0x64616F6C" in the set value dia-
log, all backup objects are reset to their delivery state.
UINT32 RW 0x00000000 (0
dec
)
6.7.2 Configuration data
Index 80p0 FB Settings (for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
80p0:0 FB Settings Max. subindex UINT8 RO > 17 <
80p0:01 Invert feedback direc-
tion TRUE: Negates the 64-bit position value BOOLEAN RW FALSE
80p0:11 Device type 02: EnDat UINT32 RW 0x00000002
(2
dec
)
Index 80p8 FB EnDat settings (for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
80p8:0 FB EnDat settings Max. subindex UINT8 RO > 19 <
80p8:01 Invert feedback direc-
tion TRUE: Negates the 64-bit position value BOOLEAN RW FALSE
80p8:12 Offset value Value that will be added to the EnDat position value INT64 RW 00 00 00 00
00 00 00 00
80p8:13 Supply voltage Encoder supply voltage:
50: 5.0 V
90: 9.0 V (see note below)
UINT8 RW 5.0 V (50)
Setting the encoder supply voltage
To write 0x8008:13 “Supply Voltage”, the value 0x72657375 (ASCII: “user”) must be set in 0xF008
[ } 106] “Code word”. Specification in steps of 0,1 V.
Only the values 50 (5.0 V) and 90 (9.0 V) are permissible. This setting applies to both channels;
therefore, before switching to 9.0 V, it must be ensured that both EnDat encoders support the ex-
tended voltage range! The setting is only adopted in the “INIT” state.
The encoder supply voltage is set for both channels in object 0x80p8!