Beckhoff EL70 7 Serie Dokumentation Seite 230

Konfiguration mit dem TwinCAT System Manager
Index 1602 STM RxPDO-Map Control
Index Name
(hex)
1602:0 STM RxPDO-Map
Control
1602:01 SubIndex 001
1602:02 SubIndex 002
1602:03 SubIndex 003
1602:04 SubIndex 004
1602:05 SubIndex 005
1602:06 SubIndex 006
Index 1603 STM RxPDO-Map Position
Index Name
(hex)
1603:0 STM RxPDO-Map
Position
1603:01 SubIndex 001
Index 1604 STM RxPDO-Map Velocity
Index Name
(hex)
1604:0 STM RxPDO-Map
Velocity
1604:01 SubIndex 001
Index 1605 POS RxPDO-Map Control compact
Index Name
(hex)
1605:0 POS RxPDO-Map
Control compact
1605:01 SubIndex 001
1605:02 SubIndex 002
1605:03 SubIndex 003
1605:04 SubIndex 004
230
Bedeutung
PDO Mapping RxPDO 3
1. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x01 (Enable))
2. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x02 (Reset))
3. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x03 (Reduce torque))
4. PDO Mapping entry (8 bits align)
5. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x0C (Digital output 1))
6. PDO Mapping entry (4 bits align)
Bedeutung
PDO Mapping RxPDO 4
1. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x11 (Position))
Bedeutung
PDO Mapping RxPDO 5
1. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x21 (Velocity))
Bedeutung
PDO Mapping RxPDO 6
1. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x01 (Execute))
2. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x02 (Emergency stop))
3. PDO Mapping entry (14 bits align)
4. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x11 (Target position))
Version: 1.8
Datentyp Flags Default
UINT8 RO 0x06 (6
UINT32 RO 0x7010:01, 1
UINT32 RO 0x7010:02, 1
UINT32 RO 0x7010:03, 1
UINT32 RO 0x0000:00, 8
UINT32 RO 0x7010:0C, 1
UINT32 RO 0x0000:00, 4
Datentyp Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x7010:11, 32
Datentyp Flags Default
UINT8 RO 0x01 (1
UINT32 RO 0x7010:21, 16
Datentyp Flags Default
UINT8 RO 0x04 (4
UINT32 RO 0x7020:01, 1
UINT32 RO 0x7020:02, 1
UINT32 RO 0x0000:00, 14
UINT32 RO 0x7020:11, 32
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EL70x7