Beckhoff EL72 1-901 Series, Manual

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Object description and parameterization
EL72x1-901x 188 Version: 1.9
7 Object description and parameterization
7.1 EL72x1-9014 (MDP742)
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec-
ommend downloading the latest XML file from the
download area of the Beckhoff website and in-
stalling it according to installation instructions.
Parameterization via the CoE list (CAN over EtherCAT)
The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via
the Process Data tab (allocation of PDOs).
Please note the following
general CoE information [ } 30] when using/manipulating the CoE parame-
ters:
- 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
NOTE
Risk of damage to the device!
We strongly advise not to change settings in the CoE objects while the axis is active, since this could impair
the control.
7.1.1 Restore object
Index 1011 Restore default parameters
Index (hex) Name Meaning Data type Flags Default
1011:0 Restore default param-
eters Restore default parameters UINT8 RO 0x01 (1
dec
)
1011:01 SubIndex 001 If this object is set to “ 0x64616F6C” in the set value di-
alog, all backup objects are reset to their delivery state.
UINT32 RW 0x00000000
(0
dec
)
7.1.2 Configuration data
Index 8000 FB Settings
Index (hex) Name Meaning Data type Flags Default
8000:0 FB Settings Maximum subindex UINT8 RO 0x13 (19
dec
)
8000:01 Invert feedback direc-
tion Inverting the count direction BOOLEAN RW 0x00 (0
dec
)
8000:11 Device type 3: OCT (not changeable) UINT32 RW 0x00000003
(3
dec
)
8000:12 Singleturn bits
Number of single-turn-bits [
}
127]
UINT8 RW 0x14 (20
dec
)
8000:13 Multiturn bits
Number of multi-turn-bits [ } 127]
UINT8 RW 0x0C (12
dec
)
8000:14 Observer bandwidth Bandwidth of observer [Hz] UINT16 RW 0x01F4
(500
dec
)
8000:15 Observer feed-forward Load ratio[%]
100 % = free of load
50 % = moments of inertia of input and output are
equal
UINT8 RW 0x01 (0
dec
)