Beckhoff EL72x1 series Handbuch Seite 164

EL72x1-0001 (DS402) - Objektbeschreibung und Parametrierung
Index 1604 DS402 RxPDO-Map Torque limitation
Index (hex) Name
1604:0 DS402 RxPDO-Map
Torque limitation
1604:01 SubIndex 001
Index 1605 DS402 RxPDO-Map Torque offset
Index (hex) Name
1605:0 DS402 RxPDO-Map
Torque offset
1605:01 SubIndex 001
Index 1606 DS402 RxPDO-Map Target position
Index (hex) Name
1606:0 DS402 RxPDO-Map
Target position
1606:01 SubIndex 001
Index 1A00 DS402 TxPDO-Map Statusword
Index (hex) Name
1A00:0 DS402 TxPDO-Map
Statusword
1A00:01 SubIndex 001
Index 1A01 DS402 TxPDO-Map Position actual value
Index (hex) Name
1A01:0 DS402 TxPDO-Map
Position actual value
1A01:01 SubIndex 001
Index 1A02 DS402 TxPDO-Map Veloacity actual value
Index (hex) Name
1A02:0 DS402 TxPDO-Map
Veloacity actual value
1A02:01 SubIndex 001
Index 1A03 DS402 TxPDO-Map Torque actual value
Index (hex) Name
1A03:0 DS402 TxPDO-Map
Torque actual value
1A03:01 SubIndex 001
Index 1A04 DS402 TxPDO-Map Following error actual value
Index (hex) Name
1A04:0 DS402 TxPDO-Map
Following error actual
value
1A04:01 SubIndex 001
164
Bedeutung
PDO Mapping RxPDO 5
1. PDO Mapping entry (object 0x6072 (Max torque),
entry 0x00 (Max torque))
Bedeutung
PDO Mapping RxPDO 6
1. PDO Mapping entry (object 0x2001 (Outputs), entry
0x11 (Torque offset))
Meaning
PDO Mapping RxPDO 7
1. PDO Mapping entry
Bedeutung
PDO Mapping TxPDO 1
1. PDO Mapping entry (object 0x6041 (Statusword),
entry 0x00 (Statusword))
Bedeutung
PDO Mapping TxPDO 2
1. PDO Mapping entry (object 0x6064 (Position actual
value), entry 0x00 (Position actual value))
Bedeutung
PDO Mapping TxPDO 3
1. PDO Mapping entry (object 0x606C (Velocity actual
value), entry 0x00 (Velocity actual value))
Bedeutung
PDO Mapping TxPDO 4
1. PDO Mapping entry (object 0x6077 (Torque actual
value), entry 0x00 (Torque actual value))
Bedeutung
PDO Mapping TxPDO 5
1. PDO Mapping entry
Version: 3.3
Datentyp Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x6072:00, 16
Datentyp Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x2001:11, 16
Data type Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x607A:00, 32
Datentyp Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x6041:00, 16
Datentyp Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x6064:00, 32
Datentyp Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x606C:00, 32
Datentyp Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x6077:00, 16
Datentyp Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x60F4:00, 32
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EL72x1