Beckhoff EL72 1-901 Series, Руководство пользователя

Страница: 167 / 263

Commissioning
EL72x1-901x 167 Version: 1.9
Fig. 203: Following error over time
The value 0xFFFFFF (- 1) in the Following error window means that the following error monitor is switched
off and corresponds to the delivery status.
The
Following error time out is 0x0000 (0) on delivery.
5.5 Profile MDP 742 or DS 402
The EL72x1-x01x supports the MDP 742 and DS 402 drive profiles. The profiles define the presentation of
parameters for the EtherCAT Terminal and the index, under which the respective parameters are arranged in
the object directory.
Both profiles contain the same parameters. They only differ in terms of the specified designations and the
parameter index. The CoE objects in the MDP 742 profile (Modular Device Profile) are allocated in the way
that is common for the Beckhoff EtherCAT Terminals. The DS402 drive profile is specified in
IEC61800-7-200 (CiA402). It uses a different object directory structure.
In both profiles, the drive state machine of the EL72x1-x01x is based on the CiA402 State Machine [
}
139] ,
which means the functional behavior is identical.
The terminal is supplied from the factory with the MDP 742 profile.
Changing the profile
After a profile change an EEPROM update [ } 244] is required. The corresponding ESI description [ } 244] can
then be loaded into the terminal.
Please note that the CoE object description and the process data are different for both profiles. The motor
XML files that match the set profile must be used.
Terminal designation MDP742 and DS402 profile
Note that the servomotor terminal is given a different type designation in TwinCAT as a result of the
profile change process described above.
The terminal then represents itself in the TwinCAT system manager as one of the following devices:
- Servomotor terminal with MDP742 profile: EL72x1-
0010 or EL72x1- 9014
- Servomotor terminal with DS402 profile: EL72x1- 0011 or EL72x1- 9015
5.6 MDP742 process data
Table of contents
• Sync Manager [
}
168]
• PDO Assignment [
}
169]
• Predefined PDO Assignment [
}
170]