Beckhoff EL7031 - Page 210

Commissioning
EL70x1210 Version: 4.4
Index 1604 STM RxPDO-Map Velocity
Index (hex) Name Meaning Data type Flags Default
1604:0 STM RxPDO-Map Ve-
locity
PDO Mapping RxPDO 5 UINT8 RO 0x01 (1
dec
)
1604:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x21 (Velocity))
UINT32 RO 0x7010:21, 16
Index 1605 POS RxPDO-Map Control compact
Index Name Meaning Data type Flags Default value
1605:0 POS RxPDO-Map
Control compact
max. subindex UINT8 RO 0x05 (5
dec
)
1605:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x01 (Execute))
UINT32 RO 0x7020:01, 1
1605:02 SubIndex 002 2. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x02 (Emergency stop))
UINT32 RO 0x7020:02, 1
1605:03 SubIndex 003 3. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1605:04 SubIndex 004 4. PDO Mapping entry (8 bits align) UINT32 RO 0x0000:00, 8
1605:05 SubIndex 004 5. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x11 (Target position))
UINT32 RO 0x7020:11, 32
Index 1606 POS RxPDO-Map Control
Index Name Meaning Data type Flags Default value
1606:0 POS RxPDO-Map
Control
max. subindex UINT8 RO 0x09 (9
dec
)
1606:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x01 (Execute))
UINT32 RO 0x7020:01, 1
1606:02 SubIndex 002 2. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x02 (Emergency stop))
UINT32 RO 0x7020:02, 1
1606:03 SubIndex 003 3. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1606:04 SubIndex 004 4. PDO Mapping entry (8 bits align) UINT32 RO 0x0000:00, 8
1606:05 SubIndex 005 5. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x11 (Target position))
UINT32 RO 0x7020:11, 32
1606:06 SubIndex 006 6. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x21 (Velocity))
UINT32 RO 0x7020:21, 16
1606:07 SubIndex 007 7. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x22 (Start type))
UINT32 RO 0x7020:22, 16
1606:08 SubIndex 008 8. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x23 (Acceleration))
UINT32 RO 0x7020:23, 16
1606:09 SubIndex 009 9. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x24 (Deceleration))
UINT32 RO 0x7020:24, 16
Index 1607 POS RxPDO-Map Control 2
Index Name Meaning Data type Flags Default
1606:0 POS RxPDO-Map
Control
max. subindex UINT8 RO 0x09 (9
dec
)
1607:01 SubIndex 001 1. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00,2
1607:02 SubIndex 002 2. PDO Mapping entry (object 0x7021 (POS Outputs 2
Ch.1), entry 0x03 (Enable auto start))
UINT32 RO 0x7021:03, 1
1607:03 SubIndex 003 3. PDO Mapping entry (13 bits align) UINT32 RO 0x0000:00, 13
1607:04 SubIndex 004 4. PDO Mapping entry (object 0x7020 (POS Outputs 2
Ch.1), entry 0x11 (Target position))
UINT32 RO 0x7021:11, 32
1607:05 SubIndex 005 5. PDO Mapping entry (object 0x7020 (POS Outputs 2
Ch.1), entry 0x21 (Velocity))
UINT32 RO 0x7021:21, 16
1607:06 SubIndex 006 6. PDO Mapping entry (object 0x7020 (POS Outputs 2
Ch.1), entry 0x22 (Start type))
UINT32 RO 0x7021:22, 16
1607:07 SubIndex 007 7. PDO Mapping entry (object 0x7020 (POS Outputs 2
Ch.1), entry 0x23 (Acceleration))
UINT32 RO 0x7021:23, 16
1607:08 SubIndex 008 8. PDO Mapping entry (object 0x7020 (POS Outputs 2
Ch.1), entry 0x24 (Deceleration))
UINT32 RO 0x7021:24, 16