Beckhoff EL7031 - Page 214

Commissioning
EL70x1214 Version: 4.4
Index 1A03 STM TxPDO-Map Status
Index (hex) Name Meaning Data type Flags Default
1A03:0 STM TxPDO-Map
Status
PDO Mapping TxPDO 4 UINT8 RO 0x0E (14
dec
)
1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x01 (Ready to enable))
UINT32 RO 0x6010:01, 1
1A03:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x02 (Ready))
UINT32 RO 0x6010:02, 1
1A03:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x03 (Warning))
UINT32 RO 0x6010:03, 1
1A03:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x04 (Error))
UINT32 RO 0x6010:04, 1
1A03:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x05 (Moving positive))
UINT32 RO 0x6010:05, 1
1A03:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x06 (Moving negative))
UINT32 RO 0x6010:06, 1
1A03:07 SubIndex 007 7. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x07 (Torque reduced))
UINT32 RO 0x6010:07, 1
1A03:08 SubIndex 008 8. PDO Mapping entry (1bits align) UINT32 RO 0x0000:00, 1
1A03:09 SubIndex 009 9. PDO Mapping entry (3bits align) UINT32 RO 0x0000:00, 3
1A03:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x0C (Digital input 1))
UINT32 RO 0x6010:0C, 1
1A03:0B SubIndex 011 11. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x0D (Digital input 2))
UINT32 RO 0x6010:0D, 1
1)
0x0000:00, 1
2)
1A03:0C SubIndex 012 12. PDO Mapping entry (object 0x6000 (SM output pa-
rameter), entry 0x0E (Sync error))
UINT32 RO 0x6000:0E, 1
1A03:0D SubIndex 013 13. PDO Mapping entry (1bits align) UINT32 RO 0x0000:00, 1
1A03:0E SubIndex 014 14. PDO Mapping entry (object 0x6000, entry 0x10) UINT32 RO 0x6000:10, 1
1)
not for EL7041-0001
2)
only for EL7041-0001 and EP7041
Index 1A04 STM TxPDO-Map Synchron info data
Index (hex) Name Meaning Data type Flags Default
1A04:0 STM TxPDO-Map
Synchron info data
PDO Mapping TxPDO 5 UINT8 RO 0x02 (2
dec
)
1A04:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x11 (Info data 1))
UINT32 RO 0x6010:11, 16
1A04:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x12 (Info data 2))
UINT32 RO 0x6010:12, 16
Index 1A05 POS TxPDO-Map Status compact
Index Name Meaning Data type Flags Default value
1A05:0 POS TxPDO-Map Sta-
tus compact
max. subindex UINT8 RO 0x09 (9
dec
)
1A05:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x01 (Busy))
UINT32 RO 0x6020:01, 1
1A05:02 SubIndex 002 2. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x02 (In-Target))
UINT32 RO 0x6020:02, 1
1A05:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x03 (Warning))
UINT32 RO 0x6020:03, 1
1A05:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x04 (Error))
UINT32 RO 0x6020:04, 1
1A05:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x05 (Calibrated))
UINT32 RO 0x6020:05, 1
1A05:06 SubIndex 006 6. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x06 (Accelerate))
UINT32 RO 0x6020:06, 1
1A05:07 SubIndex 007 7. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x07 (Decelerate))
UINT32 RO 0x6020:07, 1
1A05:08 SubIndex 008 8. PDO Mapping entry (1 bit align) UINT32 RO 0x0000:00, 1
1A05:09 SubIndex 009 9. PDO Mapping entry (8 bits align) UINT32 RO 0x0000:00, 8