Beckhoff EL7031, Documentation

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Commissioning
EL70x1 176 Version: 4.4
Index 8021 POS Features Ch.1
Index Name Meaning Data type Flags Default value
8021:0 POS Features Ch.1 Maximum subindex UINT8 RO 0x16 (22
dec
)
8021:01 Start type permitted values: UINT16 RW 0x0001 (1
dec
)
0: Idle
1: Absolute
2: Relative
3: Endless plus
4: Endless minus
6: Additive
24832: Calibration (Hardware sync)
24576: Calibration (Plc cam)
28416: Calibration (Clear manual)
28160: Calibration (Set manual)
28161: Calibration (Set manual auto)
1029: Modulo current
773: Modulo minus
517: Modulo plus
261: Modulo short
8021:11 Time information permitted values: BIT2 RW 0x00 (0
dec
)
0: Elapsed time
current drive time since start of the travel command
8021:13 Invert calibration cam
search direction Inversion of the direction of rotation towards the cam BOOLEAN RW 0x01 (1
dec
)
8021:14 Invert sync impulse
search direction Inversion of the direction of rotation away from the cam BOOLEAN RW 0x00 (0
dec
)
8021:15 Emergency stop on
position lag error Triggers an emergency stop if the maximum following er-
ror is exceeded BOOLEAN RW 0x00 (0
dec
)
8021:16 Enhanced diag history Provides detailed messages about the status of the posi-
tioning interface in the diag history
BOOLEAN RW 0x00 (0
dec
)
5.9.3 Command object
Index FB00 STM Command
Index (hex) Name Meaning Data type Flags Default
FB00:0 STM Command Maximum subindex UINT8 RO 0x03 (3
dec
)
FB00:01 Request Requesting a
command 0x8000 Software reset OCTET-
STRING[2] RW {0}
FB00:02 Status Status of the com-
mand 0 No error, without return
value UINT8 RO 0x00 (0
dec
)
1 No error, with return value
2 With error, without return
value
3 With error, with return
value
... reserved
255 Command execution ac-
tive
FB00:03 Response Return value of the executed command OCTET-
STRING[4] RO {0}