Beckhoff EL7031 - Page 4

Table of contents
EL70x14 Version: 4.4
5.2.6 ONLINE configuration creation ......................................................................................108
5.2.7 EtherCAT subscriber configuration ................................................................................116
5.3 General Notes - EtherCAT Slave Application ............................................................................. 126
5.4 Integration into the NC configuration .......................................................................................... 135
5.5 Configuration of the main parameters ........................................................................................ 139
5.6 Basic principles for the Positioning Interface .............................................................................. 146
5.6.1 Predefined PDO Assignment .........................................................................................147
5.6.2 Parameter set.................................................................................................................147
5.6.3 Information and diagnostic data.....................................................................................149
5.6.4 States of the internal state machine...............................................................................150
5.6.5 Standard sequence of a travel command ......................................................................150
5.6.6 Start types......................................................................................................................151
5.6.7 Modulo - general description..........................................................................................155
5.6.8 Examples of two travel commands with a dynamic change of the target position .........159
5.7 Process data............................................................................................................................... 161
5.7.1 Sync Manager (SM) .......................................................................................................161
5.7.2 PDO Assignment............................................................................................................162
5.7.3 Predefined PDO Assignment .........................................................................................165
5.8 Application example.................................................................................................................... 166
5.9 EL7031 - Object description and parameterization..................................................................... 171
5.9.1 Restore object................................................................................................................171
5.9.2 Configuration data..........................................................................................................171
5.9.3 Command object............................................................................................................176
5.9.4 Input data .......................................................................................................................177
5.9.5 Output data ....................................................................................................................178
5.9.6 Information / diagnostic data (channel specific).............................................................182
5.9.7 Vendor configuration data (device-specific)...................................................................183
5.9.8 Information / diagnostic data (device-specific)...............................................................184
5.9.9 Standard objects ............................................................................................................184
5.10 EL7041 - Object description and parameterization..................................................................... 195
5.10.1 Restore object................................................................................................................195
5.10.2 Configuration data..........................................................................................................195
5.10.3 Command object............................................................................................................200
5.10.4 Input data .......................................................................................................................201
5.10.5 Output data ....................................................................................................................202
5.10.6 Information / diagnostic data (channel specific).............................................................205
5.10.7 Vendor configuration data (device-specific)...................................................................206
5.10.8 Information / diagnostic data (device-specific)...............................................................207
5.10.9 Standard objects ............................................................................................................207
5.11 EL7041-1000 - Object description and parameterisation ........................................................... 219
5.11.1 Restore object................................................................................................................219
5.11.2 Configuration data..........................................................................................................219
5.11.3 Command object............................................................................................................221
5.11.4 Input data .......................................................................................................................222
5.11.5 Output data ....................................................................................................................222
5.11.6 Information / diagnostic data (channel specific).............................................................223
5.11.7 Vendor configuration data (device-specific)...................................................................224
5.11.8 Information / diagnostic data (device-specific)...............................................................224
5.11.9 Standard objects ............................................................................................................224
6 Diagnosis - Diag Messages ..................................................................................................................233
6.1 Definition..................................................................................................................................... 233
6.2 TwinCAT System Manager implementation ............................................................................... 234
6.3 Interpretation............................................................................................................................... 234