Beckhoff EL7201-0010 - Page 153

EL72x1-0010-DS402 - Object description and parameterization
Index 6077 Torque actual value
Index
(hex)
Name Meaning Data type Flags Default
6077:0 Torque
actual
value
This object shall provide the actual value of the torque.
The value is specified in 1000th of the rated current
Formula:l:
INT16 RO 0x0000
(0
dec
)
Index 6079 DC link circuit voltage
Index (hex) Name Meaning Data type Flags Default
6079:0 DC link circuit voltage DC link voltage g
Unit: mV
UINT32 RO 0x00000000
(0
dec
)
Index 607A Target position
Index (hex) Name Meaning Data type Flags Default
607A:0 Target position This object shall provide the actual position.
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
INT32 RO 0x00000000
(0
dec
)
Index 6080 Max motor speed
Index (hex) Name Meaning Data type Flags Default
6080:0 Max motor speed Velocity limitation
Unit: rpm
UINT32 RW 0x00040000
(262144
dec
)
Index 6090 Velocity Encoder Resolution
Index (hex) Name Meaning Data type Flags Default
6090:0 Velocity Encoder Res-
olution
Display of configured encoder increments/s and motor
revolutions/s.
The velocity encoder resolution is calculated according
to the following formula:
Velocity Encoder Resolution = (encoder_increments /
s ) / (motor_revolutions / s)
UINT32 RO 0x00000000
(0
dec
)
Index 60B8 Touch probe function
Index (hex) Name Meaning Data type Flags Default
60B8:0 Touch probe function Touch probe function byte UINT16 RO 0x0000 (0
dec
)
Index 60B9 Touch probe status
Index (hex) Name Meaning Data type Flags Default
60B9:0 Touch probe status Touch probe status byte UINT1616 RO 0x0000 (0
dec
)
Index 60BA Touch probe 1 positive edge
Index (hex) Name Meaning Data type Flags Default
60BA:0 Touch probe 1 positive
edge
Positive position value of TP 1
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
INT32 RO 0x00000000
(0
dec
)
Index 60BB Touch probe 1 negative edge
Index (hex) Name Meaning Data type Flags Default
60BB:0 Touch probe 1 nega-
tive edge
Negative position value of TP 1
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
INT32 RO 0x00000000
(0
dec
)
EL72x1-0010 153Version: 2.0