Commissioning
EL72x1 131Version: 3.3
Fig.161: Process Data tab SM3, EL72x1 (default)
PDO Assignment
In order to configure the process data, select the desired Sync Manager (SM 2 & 3 can be edited) in the
upper left-hand "Sync Manager" box (see fig.). The process data assigned to this Sync Manager can then be
switched on or off in the “PDO Assignment” box underneath. Restarting the EtherCAT system, or reloading
the configuration in configuration mode (F4), causes the EtherCAT communication to restart, and the
process data is transferred from the terminal.
SM2, PDO assignment 0x1C12
Index Size (byte.bit) Name PDO content
0x1600 (default) 2.0 DRV Controlword
Index 0x7010:01 [}144]
0x1601 (default) 4.0 DRV Target velocity
Index 0x7010:06 [}144]
0x1602 2.0 DRV Target torque
Index 0x7010:09 [}144]
0x1603 2.0 DRV Commutation angle
Index 0x7010:0E [}144]
0x1604 2.0 DRV Torque limitation
Index 0x7010:0B [}144]
0x1605 2.0 DRV Torque offset
Index 0x7010:0A [}144]
0x1606 4.0 DRV Target position
Index 0x7010:05 [}144]
SM3, PDO Assignment 0x1C13
Index Size (byte.bit) Name PDO content
0x1A00 (default) 4.0 FB Position
Index 0x6000:11 [}142]
0x1A01 (default) 2.0 DRV Statusword
Index 0x6010:01 [}143]
0x1A02 4.0 DRV Velocity actual value
Index 0x6010:07 [}143]
0x1A03 2.0 DRV Torque actual value
Index 0x6010:08 [}143]
0x1A04 2.0 DRV Info data 1
Index 0x6010:12 [}143]
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