Commissioning
EL72x1-901x170 Version: 1.9
SM2, PDO assignment 0x1C12
Index Size (byte.bit) Name PDO content
0x1600 (default) 2.0 DRV Controlword
Index 0x7010:01 [}198]
0x1601(default) 4.0 DRV Target velocity
Index 0x7010:06 [}198]
0x1602 2.0 DRV Target torque
Index 0x7010:09 [}198]
0x1603 2.0 DRV Commutation angle
Index 0x7010:0E [}198]
0x1604 2.0 DRV Torque limitation
Index 0x7010:0B [}198]
0x1605 2.0 DRV Torque offset
Index 0x7010:0A [}198]
0x1606 4.0 DRV Target position
Index 0x7010:05 [}198]
0x1607 2.0 FB Touch probe control Index 0x7001:0
Index 0x7001:01 [}197]
Index 0x7001:02 [}197]
Index 0x7001:03 [}197]
Index 0x7001:05 [}197]
Index 0x7001:06 [}197]
Index 0x7001:09 [}197]
Index 0x7001:0A [}197]
Index 0x7001:0B [}197]
Index 0x7001:0D
[}197]
Index 0x7001:0E [}197]
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) 4.0 FB position
Index 0x6000:11 [}195]
0x1A01 (default) 2.0 DRV Statusword
Index 0x6010:01 [}196]
0x1A02 4.0 DRV Velocity actual value
Index 0x6010:07 [}196]
0x1A03 2.0 DRV Torque actual value
Index 0x6010:08 [}196]
0x1A04 2.0 DRV Info data 1
Index 0x6010:12 [}196]
0x1A05 2.0 DRV Info data 2
Index 0x6010:13 [}196]
0x1A06 4.0 DRV Following error actual value
Index 0x6010:09 [}196]
0x1A07 2.0 FB Touch probe status Index 0x6001:0
Index 0x6001:01 [}196]
Index 0x6001:02 [}196]
Index 0x6001:03 [}196]
Index 0x6001:08 [}196]
Index 0x6001:09 [}196]
Index 0x6001:0A [}196]
Index 0x6001:0B [}196]
Index 0x6001:10 [}196]
TP1 Enable
TP1 Pos. value stored
TP1 Neg. value stored
TP1 Input
TP2 Enable
TP2 Pos. value stored
TP2 Neg. value stored
TP2 Input
0x1A08 4.0 FB Touch probe 1 pos. position
Index 0x6001:11 [}196]
0x1A09 4.0 FB Touch probe 1 neg. position
Index 0x6001:12 [}196]
0x1A0A 4.0 FB Touch probe 2 pos. position
Index 0x6001:13 [}196]
0x1A0B 4.0 FB Touch probe 2 neg. position
Index 0x6001:14 [}196]
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:
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