Object description and parameterization
EL72x1-901x218 Version: 1.9
7.2.4 Input/output data
Index 2001 Outputs
Index (hex) Name Meaning Data type Flags Default
2001:0 Outputs Maximum subindex UINT8 RO 0x11 (17
dec
)
2001:11 Torque offset Torque value offset
The value is specified in 1000th of the rated current
Equation for index 2002:54 [}212] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (2003:16 [}215])
Equation for index 2002:54 [}212] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (2003:16 [}215])
INT16 RO 0x0000 (0
dec
)
Index 2008 Inputs
Index (hex) Name Meaning Data type Flags Default
2008:0 Inputs Maximum subindex UINT8 RO 0x02 (2
dec
)
2008:01 Info data1 Synchronous information (selection via subindex
2002:55 [}212])
UINT16 RO 0x0000 (0
dec
)
2008:01 Info data2 Synchronous information (selection via subindex
2002:56 [}212])
UINT16 RO 0x0000 (0
dec
)
Index 603E TxPDO Data invalid
Index (hex) Name Meaning Data type Flags Default
603E:0 TxPDO Data invalid Max. subindex UINT8 RO 0x02 (2
dec
)
603E:02 Position actual value 0: The current position is valid
1: The current position is invalid
BOOLEAN ROP 0
Index 6040 Controlword
Index (hex) Name Meaning Data type Flags Default
6040:0 Controlword
DS402 Controlword [}139]
Bit 0: Switch on
Bit 1: Enable voltage
Bit 2: reserved
Bit 3: Enable operation
Bit 4 - 6: reserved
Bit 7: Fault reset
Bit 8 - 15: reserved
UINT16 RO 0x0000 (0
dec
)
Index 6041 Statusword
Index (hex) Name Meaning Data type Flags Default
6041:0 Statusword
DS402 Statusword [}139]
Bit 0: Ready to switch on
Bit 1: Switched on
Bit 2: Operation enabled
Bit 3: Fault
Bit 4: reserved
Bit 5: reserved
Bit 6: Switch on disabled
Bit 7: Warning
Bit 8 + 9: reserved
Bit 10: TxPDOToggle (selection/deselection via
0x60DA [}222])
Bit 11: Internal limit active
Bit 12: (Target value ignored)
Bit 13 - 15: reserved
UINT16 RO 0x0000 (0
dec
)
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