Beckhoff EL72 1 Series - Page 143

EL72x1-0000 (MDP742) - Object description and parameterization
EL72x1 143Version: 3.3
Index 6010 DRV Inputs
Index (hex) Name Meaning Data type Flags Default
6010:0 DRV Inputs Maximum subindex UINT8 RO 0x13 (19
dec
)
6010:01 Statusword
Statusword [}101]
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
0x8010:01 [}137])
Bit 11 : Internal limit active
Bit 12 : (Target value ignored)
Bit 13 - 15 : reserved
UINT16 RO 0x0000 (0
dec
)
6010:03 Modes of operation
display
Display of the operating mode UINT8 RO 0x00 (0
dec
)
6010:07 Velocity actual value Display of the current velocity value
Unit: see Index 0x9010:14 [}145]
INT32 RO 0x00000000
(0
dec
)
6010:08 Torque actual value Display of current torque value
The value is specified in 1000th of the rated current
(0x8011:12 [}140])
Formula for Index 8010:54 [}137] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (8011:16 [}140])
Formula for Index 8010:54 [}137] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (8011:16 [}140])
INT16 RO 0x0000 (0
dec
)
6010:09 Following error actual
value
Following error
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}110]
INT32 RO 0x00000000
(0
dec
)
6010:12 Info data 1 Synchronous information (selection via subindex
0x8010:39)
UINT16 RO 0x0000 (0
dec
)
6010:13 Info data 2 Synchronous information (selection via subindex
0x8010:3A)
UINT16 RO 0x0000 (0
dec
)