Commissioning
EL70x1 147Version: 4.4
5.6.1 Predefined PDO Assignment
The "Predefined PDO Assignment" enables a simplified selection of the process data. Select the function
"Positioning interface" or "Positioning interface compact" in the lower part of the Process data tab. As a
result, all necessary PDOs are automatically activated and the unnecessary PDOs are deactivated.
Fig.172: Predefined PDO Assignment
5.6.2 Parameter set
Two objects are at the user’s disposal in the CoE for the configuration – the "POS Settings" (Index 0x8020)
and the "POS Features" (Index 0x8021).
Fig.173: Settings objects in the CoE
POS Settings: Velocity min.:
For reasons of performance when ramping down to the target position, the terminal needs a safety margin of
0.5%. That means that, depending on the maximum velocity reached and the configured deceleration, the
time is calculated at which the deceleration ramp begins. In order to always reach the destination reliably,
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