Beckhoff EL72 1-901 Series, Руководство пользователя

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Commissioning
EL72x1-901x 174 Version: 1.9
SM2, PDO assignment 0x1C12
Index Size (byte.bit) Name PDO content
0x1600 (default) 2.0 DS402 Controlword
Index 0x6040 [ } 218]
0x1601 (default) 4.0 DS402 Target velocity
Index 0x60FF [
}
222]
0x1602 2.0 DS402 Target torque
Index 0x6071 [
}
220]
0x1603 2.0 DS402 Commutation angle
Index 0x60EA [ } 222]
0x1604 2.0 DS402 Torque limitation
Index 0x6072 [
}
220]
0x1605 2.0 DS402 Torque offset
Index 0x2001:11 [ } 218]
0x1606 4.0 DS402 Target position
Index 0x607A [
}
221]
0x1607 2.0 DS402 FB Touch probe cfunc-
tion
Index 0x60B8 [
}
221]
Bit 0
Bit 1
Bit 2
Bit 4
Bit 5
Bit 8
Bit 9
Bit 10
Bit 12
Bit 13 TP1 Enable
TP1 Continous
TP1 Trigger mode
TP1 Enable pos. edge
TP1 Enable neg. edge
TP2 Enable
TP2 Continous
TP2 Trigger mode
TP2 Enable pos. edge
TP2 Enable neg. edge
SM3, PDO Assignment 0x1C13
Index Size (byte.bit) Name PDO content
0x1A00 (default) 2.0 DS402 Statusword
Index 0x6041 [
}
218]
0x1A01 (default) 4.0 DS402 Position actual value
Index 0x6064 [ } 219]
0x1A02 4.0 DS402 Velocity actual value
Index 0x606C [ } 219]
0x1A03 2.0 DS402 Torque actual value
Index 0x6077 [
}
220]
0x1A04 4.0 DS402 Following error actual
value
Index 0x60F4 [ } 222]
0x1A05 2.0 DS402 Touch probe status
Index 0x60B9 [ } 221]
Bit 0
Bit 1
Bit 2
Bit 7
Bit 8
Bit 9
Bit 10
Index 6001:10 TP1 Enable
TP1 Pos. value stored
TP1 Neg. value stored
TP1 Input
TP2 Enable
TP2 Pos. value stored
TP2 Neg. value stored
TP2 Input
0x1A06 4.0 DS402 Touch probe 1 pos. po-
sition
Index 0x60BA [ } 221]
0x1A07 4.0 DS402 Touch probe 1 neg. po-
sition
Index 0x60BB [ } 221]
0x1A08 4.0 DS402 Touch probe 2 pos. po-
sition
Index 0x60BC [ } 222]
0x1A09 4.0 DS402 Touch probe 2 neg. po-
sition
Index 0x60BD [
}
222]
Predefined PDO Assignment
The "Predefined PDO Assignment" enables a simplified selection of the process data. The desired function is
selected on the lower part of the "Process Data" tab. As a result, all necessary PDOs are automatically
activated and the unnecessary PDOs are deactivated.
Three PDO assignments are available: