Beckhoff EL7031, Documentation

Page: 204 / 255

Commissioning
EL70x1 204 Version: 4.4
Index (hex) Name Meaning Data type Flags Default
7020:0 POS Outputs Ch.1 Maximum subindex UINT8 RO 0x24 (36
dec
)
7020:01 Execute Start travel command (rising edge), or prematurely abort
travel command (falling edge) BOOLEAN RO 0x00 (0
dec
)
7020:02 Emergency Stop Prematurely abort travel command with an emergency
ramp (rising edge) BOOLEAN RO 0x00 (0
dec
)
7020:11 Target position Specification of the target position UINT32 RO 0x00007FFF
(32767
dec
)
7020:21 Velocity Specification of the maximum set velocity INT16 RO 0x0000 (0
dec
)
7020:22 Start type Specifica-
tion of the
start types 0x0000 Idle No travel com-
mand is being ex-
ecuted UINT16 RO 0x0000 (0
dec
)
0x0001 Absolute Absolute target
position
0x0002 Relative Target position
relative to the
start position
0x0003 Endless plus Endless driving in
positive direction
of rotation
0x0004 Endless mi-
nus Endless driving in
negative direction
of rotation
0x0105 Modulo short Shortest distance
to the next mod-
ulo position
0x0115 Modulo short
extended Shortest distance
to the next mod-
ulo position (with-
out modulo win-
dow)
0x0205 Modulo plus Drive in positive
direction of rota-
tion to the next
modulo position
0x0215 Modulo plus
extended Drive in positive
direction of rota-
tion to the next
modulo position
(without modulo
window)
0x0305 Modulo minus Drive in negative
direction of rota-
tion to the next
modulo position
0x0315 Modulo minus
extended Drive in negative
direction of rota-
tion to the next
modulo position
(without modulo
window)
0x0405 Modulo cur-
rent Drive in the last
implemented di-
rection of rotation
to the next mod-
ulo position
0x0415 Modulo cur-
rent extended Drive in the last
implemented di-
rection of rotation
to the next mod-
ulo position (with-
out modulo win-
dow)
0x0006 Additive New target posi-
tion relative/addi-
tive to the last tar-
get position
0x6000 Calibration,
Plc cam Calibration with
cam
0x6100 Calibration,
Hw sync Calibration with
cam and C-track