Beckhoff EL7201-0010 User Manual

EL72x1-0010-MDP742 - Object description and parameterization
Index 6001 FB Touch probe inputs
Index (hex) Name Meaning Data type Flags Default
6001:0 FB Touch probe inputs Maximum subindex UINT8 RO 0x14 (20
dec
)
6001:01 TP1 Enable Touchprobe 1 switched on BOOLEAN RO 0x00 (0
dec
)
6001:02 TP1 pos value stored Positive value of Touchprobe 1 saved BOOLEAN RO 0x00 (0
dec
)
6001:03 TP1 Neg value stored Negative value of Touchprobe 1 saved BOOLEAN RO 0x00 (0
dec
)
6001:09 TP2 Enable Touchprobe 2 switched on BOOLEAN RO 0x00 (0
dec
)
6001:0A TP2 pos value stored Positive value of Touchprobe 2 saved BOOLEAN RO 0x00 (0
dec
)
6001:0B TP2 neg value stored Negative value of Touchprobe 2 saved BOOLEAN RO 0x00 (0
dec
)
6001:11 TP1 pos position Positive value of Touchprobe 1
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
UINT32 RO 0x00000000
(0
dec
)
6001:12 TP1 neg position Negative value of Touchprobe 1
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
UINT32 RO 0x00000000
(0
dec
)
6001:13 TP2 pos position Positive value of Touchprobe 2
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
UINT32 RO 0x00000000
(0
dec
)
6001:14 TP2 neg position Negative value of Touchprobe 2
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
UINT32 RO 0x00000000
(0
dec
)
Index 6010 DRV Inputs
Index
(hex)
Name Meaning Data type Flags Default
6010:0 DRV In-
puts
Maximum subindex UINT8 RO 0x13
(19
dec
)
6010:01 Status-
word
Statusword
Bit 0: Ready to switch on
Bit 1: Switched on
Bit 2: Operation enabled
Bit 3: Fault
Bit 4: reserved
Bit 5: Quick stop (inverse)
Bit 6: Switch on disabled
Bit 7: Warning
Bit 8 + 9: reserved
Bit 10: TxPDOToggle (selection/deselection via 0x8010:01)
Bit 11: Internal limit active
Bit 12: (Target value ignored)
Bit 13 - 15: reserved
UINT16 RO 0x0000
(0
dec
)
6010:03 Modes
of opera-
tion dis-
play
Modes of operation display.
Permitted values:
9: Cyclic synchronous velocity mode (CSV)
10: Cyclic synchronous torque mode (CST)
11: Cyclic synchronous torque mode with commutation angle (CSTCA)
UINT8 RO 0x00 (0
dec
)
6010:07 Velocity
actual
value
Display of the current velocity value
Unit: see Index 9010:14 [}176]
INT32 RO 0x000000
00 (0
dec
)
6010:08 Torque
actual
value
Display of current torque value
The value is specified in 1000th of the rated current
Formula:
INT16 RO 0x0000
(0
dec
)
6010:09 Follow-
ing error
actual
value
Following error
Unit: the given value must be multiplied by the corresponding scaling factor
[}100]
INT32 RO 0x000000
00 (0
dec
)
6010:12 Info data
1
Synchronous information (selection via subindex 8010:39 [}166])
UINT16 RO 0x0000
(0
dec
)
6010:13 Info data
2
Synchronous information (selection via subindex 8010:3A [}166])
UINT16 RO 0x0000
(0
dec
)
EL72x1-0010 171Version: 2.0

Beckhoff EL7201-0010 Specifications

General

Brand	Beckhoff
Model	EL7201-0010
Category	Servo Drives
Language	English