Beckhoff EL72 1 Series User Manual

EL72x1-0000 (MDP742) - Object description and parameterization
EL72x1144 Version: 3.3
7.6 Output data
Index 7010 DRV Outputs
Index (hex) Name Meaning Data type Flags Default
7010:0 DRV Outputs Maximum subindex UINT8 RO 0x0E (14
dec
)
7010:01 Controlword
Controlword [}101]
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
)
7010:03 Modes of operation Setting the operating mode
0x08: Cyclic synchronous position mode (CSP)
0x09: Cyclic synchronous velocity mode (CSV)
0x0A: Cyclic synchronous torque mode (CST)
0x0B: Cyclic synchronous torque mode with commuta-
tion angle (CSTCA)
UINT8 RW 0x00 (0
dec
)
7010:05 Target position Configured target position
Unit: the value must be multiplied by the correspond-
ing scaling factor [}110]
INT32 RW 0x00000000
(0
dec
)
7010:06 Target velocity Configured target velocity
The velocity scaling can be found in object 0x9010:14
[}145] (Velocity encoder resolution)
INT32 RO 0x00000000
(0
dec
)
7010:09 Target torque Configured input value for torque monitoring
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
)
7010:0A Torque offset Torque value offset
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
)
7010:0B Torque limitation Torque threshold value for torque monitoring (bipolar
limit)
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])
UINT16 RW 0x7FFF
(32767
dec
)
7010:0E Commutation angle Commutation angle (for CSTCA mode)
Unit: 360° / 2
16
UINT16 RO 0x0000 (0
dec
)

Beckhoff EL72 1 Series Specifications

General

Brand	Beckhoff
Model	EL72 1 Series
Category	Touch terminals
Language	English