Beckhoff EL7031, Documentation

Page: 209 / 255

Commissioning
EL70x1 209 Version: 4.4
Index 1600 ENC RxPDO-Map Control compact
Index (hex) Name Meaning Data type Flags Default
1600:0 ENC RxPDO-Map
Control compact PDO Mapping RxPDO 1 UINT8 RO 0x07 (7
dec
)
1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x01 (Enable latch C)) UINT32 RO 0x7000:01, 1
1600:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x02 (Enable latch extern on positive edge)) UINT32 RO 0x7000:02, 1
1600:03 SubIndex 003 3. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x03 (Set counter)) UINT32 RO 0x7000:03, 1
1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x04 (Enable latch extern on negative
edge)) UINT32 RO 0x7000:04, 1
1600:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1600:06 SubIndex 006 6. PDO Mapping entry (8 bits align) UINT32 RO 0x0000:00, 8
1600:07 SubIndex 007 7. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x11 (Set counter value)) UINT32 RO 0x7000:11, 16
Index 1601 ENC RxPDO-Map Control
Index (hex) Name Meaning Data type Flags Default
1601:0 ENC RxPDO-Map
Control PDO Mapping RxPDO 2 UINT8 RO 0x07 (7
dec
)
1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x01 (Enable latch C)) UINT32 RO 0x7000:01, 1
1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x02 (Enable latch extern on positive edge)) UINT32 RO 0x7000:02, 1
1601:03 SubIndex 003 3. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x03 (Set counter)) UINT32 RO 0x7000:03, 1
1601:04 SubIndex 004 4. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x04 (Enable latch extern on negative
edge)) UINT32 RO 0x7000:04, 1
1601:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1602:06 SubIndex 006 6. PDO Mapping entry (8 bits align) UINT32 RO 0x0000:00, 8
1602:07 SubIndex 007 7. PDO Mapping entry (object 0x7000 (ENC Outputs
Ch.1), entry 0x11 (Set counter value)) UINT32 RO 0x7000:11, 32
Index 1602 STM RxPDO-Map Control
Index (hex) Name Meaning Data type Flags Default
1602:0 STM RxPDO-Map
Control PDO Mapping RxPDO 3 UINT8 RO 0x05 (5
dec
)
1)
0x07 (7
dec
)
2)
1602:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x01 (Enable)) UINT32 RO 0x7010:01, 1
1602:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x02 (Reset)) UINT32 RO 0x7010:02, 1
1602:03 SubIndex 003 3. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x03 (Reduce torque)) UINT32 RO 0x7010:03, 1
1602:04 SubIndex 004 4. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
1602:05 SubIndex 005 5. PDO Mapping entry (8 bits align) UINT32 RO 0x0000:00, 8
1602:06
2)
SubIndex 006 6. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x0C (Digital output 1)) UINT32 RO 0x7010:0C, 1
1602:07
2)
SubIndex 007 7. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1)
not for EL7041-0001
2)
only for EL7041-0001 and EP7041
Index 1603 STM RxPDO-Map Position
Index (hex) Name Meaning Data type Flags Default
1603:0 STM RxPDO-Map Po-
sition PDO Mapping RxPDO 4 UINT8 RO 0x01 (1
dec
)
1603:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x11 (Position)) UINT32 RO 0x7010:11, 32