Beckhoff EL72 1 Series - Fig. 162 Process Data Tab Predefined PDO Assignment, El72 X1

Commissioning
EL72x1132 Version: 3.3
SM3, PDO Assignment 0x1C13
Index Size (byte.bit) Name PDO content
0x1A05 2.0 DRV Info data 2
Index 0x6010:13 [}143]
0x1A06 4.0 DRV Following error actual
value
Index 0x6010:09 [}143]
Table 1: PDO assignment of sync managers, EL72x1
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:
Name SM2, PDO assignment SM3, PDO assignment
Cyclic synchronous velocity mode
(CSV)
0x1600 [}147] (DRV
Controlword)
0x1601 [}147] (DRV Target
velocity)
0x1A00 [}148] (FB Position)
0x1A01 [}148] (DRV Statusword)
Cyclic synchronous torque mode
(CST)
0x1600 [}147] (DRV
Controlword)
0x1602 [}147] (DRV Target
torque)
0x1A00 [}148] (FB Position)
0x1A01 [}148] (DRV Statusword)
0x1A03 [}148] (DRV Torque actual
value)
Cyclic synchronous torque mode with
commutation angel (CSTCA)
0x1600 [}147] (DRV
Controlword)
0x1603 [}147](DRV
Commutation angle)
0x1A01 [}148] (DRV Statusword)
Cyclic synchronous position mode
(CSP)
0x1600 [}147] (DRV
Controlword)
0x1606 [}148] (DRV Target
position)
0x1A00 [}148] (FB Position)
0x1A01 [}148] (DRV Statusword)
Fig.162: Process data tab Predefined PDO Assignment, EL72x1