EL72x1-0001 (DS402) - Object description and parameterization
EL72x1 157Version: 3.3
8.3 Command object
Index FB00 Command
Index
(hex)
Name Meaning Data type Flags Default
FB00:0 DCM
Com-
mand
Max. subindex UINT8 RO 0x03 (3
dec
)
FB00:01 Request 0x1000 Clear diag history Clear the Diag History OCTET-
STRING[2]
RW {0}
0x1100 Get build number Read out the build number
0x1101 Get build date Read out the build date
0x1102 Get build time Read out the build time
0x8000 Software reset Perform a software reset (hardware is re-initial-
ized with the current CoE configuration; this oth-
erwise happens only during the transition to
INIT)
FB00:02 Status 0 Finished,
no error,
no response
Command terminated without error and without
response
UINT8 RO 0x00 (0
dec
)
1 Finished,
no error,
response
Command terminated without error and with re-
sponse
2 Finished,
error,
no response
Command terminated with error and without re-
sponse
3 Finished,
error,
response
Command terminated with error and with re-
sponse
255 Executing Command is being executed
FB00:03 Re-
sponse
dependent on the request OCTET-
STRING[4]
RO {0}
8.4 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
Formula for Index 2002:54 [}154] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (2003:16 [}155])
Formula for Index 2002:54 [}154] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (2003:16 [}155])
INT16 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
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