Commissioning
Name
SM2, PDO assignment
SM3, PDO assignment
Cyclic synchronous velocity mode (CSV)
0x1600 [
}
159]
(DS402 Controlword)
0x1601 [
}
159]
(DS402 Target velocity)
0x1A00 [
}
160]
(DS402 Statusword)
0x1A01 [
}
160]
(DS402 Position actual
value)
Cyclic synchronous torque mode (CST)
0x1600 [
}
159]
(DS402 Controlword)
0x1602 [
}
159]
(DS402 Target torque)
0x1A00 [
}
160]
(DS402 Statusword)
0x1A01 [
}
160]
(DS402 Position actual
value)
0x1A03 [
}
160]
(DS402 Torque actual value)
Cyclic synchronous torque mode with commu-
tation angel (CSTCA)
0x1600 [
}
159]
(DS402 Controlword)
0x1602 [
}
159]
(DS402 Target torque)
0x1603 [
}
159]
(DS402 Commutation an-
gle)
0x1A00 [
}
160]
(DS402 Statusword)
Cyclic synchronous position mode (CSP)
0x1600 [
}
159]
(DS402 Controlword)
0x1606 [
}
160]
(DS402 Target position)
0x1A00 [
}
160]
(DS402 Statusword)
0x1A01 [
}
160]
(DS402 Position actual
value)
Fig. 173:
Process data tab - Predefined PDO Assignment, EL72x1-0010
EL72x1-0010
145
Version: 2.0
Summary of Contents for EL7201-0010
Page 2: ......
Page 47: ...Commissioning Fig 42 TCP IP setting for the Ethernet port EL72x1 0010 47 Version 2 0 ...
Page 57: ...Commissioning Fig 61 EtherCAT terminal in the TwinCAT tree EL72x1 0010 57 Version 2 0 ...
Page 119: ...Commissioning Fig 148 Touch Probe inputs EL72x1 0010 119 Version 2 0 ...
Page 138: ...Commissioning Fig 168 Process Data tab SM2 EL72x1 0010 default EL72x1 0010 138 Version 2 0 ...
Page 142: ...Commissioning Fig 171 Process Data tab SM2 EL72x1 0010 default EL72x1 0010 142 Version 2 0 ...