Beckhoff EL5032, Documentation

Page: 102 / 142

Commissioning
EL5032, EL5032-0090 102 Version: 2.4
6.7.3 Command object
Index B0p8 FB ENDat Command (for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
B0p8:0 FB ENDat Command Max. subindex UINT8 RO > 3 <
B0p8:01 Request The Object command can be used to initiate various ac-
tions, such as the reading or writing of a particular mem-
ory range of the EnDat encoder.
Request: up to 69 bytes
see Commands [ } 91]
OCTET-
STRING[69] RW
B0p8:02 Status Status of the command currently being executed
0: Command executed without error and without re-
sponse
1: Command executed without error and with response
2: Command executed with error and without response
3: Command executed with error and with response
255: Command is being executed
UINT8 RO 0x00 (0
dec
)
B0p8:03 Response Optional response value of the command
Response: up to 69 bytes OCTET-
STRING[69] RO
6.7.4 Input data
Index 60p0 FB Inputs (for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
60p0:0 FB Inputs Max. subindex UINT8 RO > 18 <
60p0:01 STATUS_Warning Warning bit of the EnDat protocol BOOLEAN RO FALSE
60p0:02 STATUS_Error Error collecting bit of the EnDat protocol (error message
1/ error message 2) BOOLEAN RO FALSE
60p0:03 STATUS_Ready Ready for use (initialization of the encoder completed) BOOLEAN RO FALSE
60p0:0D STATUS_Diag Indicates that a new message is available in the “Diag
History” BOOLEAN RO TRUE
60p0:0E STATUS_TxPDO
State Validity of the data of the associated TxPDO (0 = valid, 1
= invalid) BOOLEAN RO TRUE
60p0:0F STATUS_Input cycle
counter 2-bit counter for synchronization (incremented only if a
new value is present) BIT2 RO 0
60p0:11 Position EnDat position value
EL5032:0090:
ULINT values cannot be processed in the TwinSAFE
logic, therefore there is no possibility to transmit the posi-
tion value
0x60n0:11 [
}
102] "Position" to the TwinSAFE
logic. In this case the process data must be parameter-
ized under
0x8021 [ } 115] "TSC Process Data settings".
UINT64 RO 00 00 00 00
00 00 00 00
60p0:12 Position (uint32) EnDat position value (unit32) UINT32 RO 00 00 00 00
Also see about this
2
EL5032-0090 - TwinSAFE Single Channel objects [
}
113]