Beckhoff EL7201-0010

Commissioning
Name SM2, PDO assignment SM3, PDO assignment
Cyclic synchronous velocity mode (CSV)
0x1600 [}159] (DS402 Controlword)
0x1601 [}159] (DS402 Target velocity)
0x1A00 [}160] (DS402 Statusword)
0x1A01 [}160] (DS402 Position actual
value)
Cyclic synchronous torque mode (CST)
0x1600 [}159] (DS402 Controlword)
0x1602 [}159] (DS402 Target torque)
0x1A00 [}160] (DS402 Statusword)
0x1A01 [}160] (DS402 Position actual
value)
0x1A03 [}160] (DS402 Torque actual value)
Cyclic synchronous torque mode with commu-
tation angel (CSTCA)
0x1600 [}159] (DS402 Controlword)
0x1602 [}159] (DS402 Target torque)
0x1603 [}159] (DS402 Commutation an-
gle)
0x1A00 [}160] (DS402 Statusword)
Cyclic synchronous position mode (CSP)
0x1600 [}159] (DS402 Controlword)
0x1606 [}160] (DS402 Target position)
0x1A00 [}160] (DS402 Statusword)
0x1A01 [}160] (DS402 Position actual
value)
Fig.173: Process data tab - Predefined PDO Assignment, EL72x1-0010
EL72x1-0010 145Version: 2.0