Beckhoff EL7201-0010 - Page 180

EL72x1-0010-MDP742 - Object description and parameterization
Index 1A02 DRV TxPDO-Map Velocity actual value
Index (hex) Name Meaning Data type Flags Default
1A02:0 DRV TxPDO-Map Ve-
locity actual value
PDO Mapping TxPDO 3 UINT8 RO 0x01 (1
dec
)
1A02:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DRV Inputs),
entry 0x07 (Velocity actual value))
UINT32 RO 0x6010:07, 32
Index 1A03 DRV TxPDO-Map Torque actual value
Index (hex) Name Meaning Data type Flags Default
1A03:0 DRV TxPDO-Map
Torque actual value
PDO Mapping TxPDO 4 UINT8 RO 0x01 (1
dec
)
1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DRV Inputs),
entry 0x08 (Torque actual value))
UINT32 RO 0x6010:08, 16
Index 1A04 DRV TxPDO-Map Info data 1
Index (hex) Name Meaning Data type Flags Default
1A04:0 DRV TxPDO-Map Info
data 1
PDO Mapping TxPDO 5 UINT8 RO 0x01 (1
dec
)
1A04:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DRV Inputs),
entry 0x12 (Info data 1))
UINT32 RO 0x6010:12, 16
Index 1A05 DRV TxPDO-Map Info data 2
Index (hex) Name Meaning Data type Flags Default
1A05:0 DRV TxPDO-Map Info
data 2
PDO Mapping TxPDO 6 UINT8 RO 0x01 (1
dec
)
1A05:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DRV Inputs),
entry 0x13 (Info data 2))
UINT32 RO 0x6010:13, 16
Index 1A06 DRV TxPDO-Map Following error actual value
Index (hex) Name Meaning Data type Flags Default
1A06:0 DRV TxPDO-Map Fol-
lowing error actual
value
PDO Mapping TxPDO 7 UINT8 RO 0x01 (1
dec
)
1A06:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DRV Inputs),
entry 0x01 (Statusword))
UINT32 RO 0x6010:09, 32
Index 1A07 FB TxPDO-Map Touch probe status
Index (hex) Name Meaning Data type Flags Default
1A07:0 FB TxPDO-Map Touch
probe status
PDO Mapping TxPDO 8 UINT8 RO 0x08 (8
dec
)
1A07:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DRV Inputs),
entry 0x07 (Velocity actual value))
UINT32 RO 0x6001:01, 1
1A07:02 SubIndex 002 2. PDO Mapping entry (object 0x6001 (FB Touch
probe inputs), entry 0x02 (TP1 pos value stored))
UINT32 RO 0x6001:02, 1
1A07:03 SubIndex 003 3. PDO Mapping entry (object 0x6001 (FB Touch
probe inputs), entry 0x03 (TP1 Neg value stored))
UINT32 RO 0x6001:03, 1
1A07:04 SubIndex 004 4. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
1A07:05 SubIndex 005 5. PDO Mapping entry (object 0x6001 (FB Touch
probe inputs), entry 0x09 (TP2 Enable))
UINT32 RO 0x6001:09, 1
1A07:06 SubIndex 006 6. PDO Mapping entry (object 0x6001 (FB Touch
probe inputs), entry 0x0A (TP2 pos value stored))
UINT32 RO 0x6001:0A, 1
1A07:07 SubIndex 007 7. PDO Mapping entry (object 0x6001 (FB Touch
probe inputs), entry 0x0B (TP2 neg value stored))
UINT32 RO 0x6001:0B, 1
1A07:08 SubIndex 008 8. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
EL72x1-0010180 Version: 2.0