Beckhoff EL7201-0010 - Page 173

EL72x1-0010-MDP742 - Object description and parameterization
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 Control-
word
Controlword
Bit 0: Switch on
Bit 1: Enable voltage
Bit 2: Quick stop (inverse)
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 opera-
tion
Permitted values:
0x08: Cyclic synchronous position mode (CSP)
0x09: Cyclic synchronous velocity mode (CSV)
0x0A: Cyclic synchronous torque mode (CST)
0x0B: Cyclic synchronous torque mode with commutation angle (CSTCA)
UINT8 RW 0x00 (0
dec
)
7010:05 Target
position
Configured target position
Unit: the value must be multiplied by the corresponding scaling factor [}100]
INT32 RW 0x000000
00 (0
dec
)
7010:06 Target
velocity
Configured target velocity
The velocity scaling can be found in object 0x9010:14 [}176] (Velocity encoder
resolution)
INT32 RO 0x000000
00 (0
dec
)
7010:09 Target
torque
Configured input value for torque monitoring
The value is specified in 1000th of the rated current
Formula:
INT16 RO 0x0000
(0
dec
)
7010:0A Torque
offset
Torque value offset
The value is specified in 1000th of the rated current
Formula:
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
Formula:
UINT16 RW 0x7FFF
(32767
dec
)
7010:0E Commu-
tation
angle
Commutation angle (for CSTCA mode)
Unit: 360° / 2
16
UINT16 RO 0x0000
(0
dec
)
EL72x1-0010 173Version: 2.0