Beckhoff EL72 1-001-Serie Dokumentation Seite 197

Index 6040 Controlword
Index (hex) Name
6040:0 Controlword
Index 6041 Statusword
Index (hex) Name
6041:0 Statusword
Index 605E Fault reaction option code
Index (hex) Name
605E:0 Fault reaction option
code
Index 6060 Modes of operation
Index (hex) Name
6060:0 Modes of operation
Index 6061 Modes of operation display
Index (hex) Name
6061:0 Modes of operation
display
Index 6064 Position actual value
Index (hex) Name
6064:0 Position actual value
EL72x1-001x
EL72x1-0011 (DS402) - Objektbeschreibung und Parametrierung
Bedeutung
DS402 Controlword [} 109]
Bit 0: Switch on
Bit 1: Enable voltage
Bit 2: reserved
Bit 3: Enable operation
Bit 4 - 6: reserved
Bit 7: Fault reset
Bit 8 - 15: reserved
Bedeutung
DS402 Statusword [} 109]
Bit 0: Ready to switch on
Bit 1: Switched on
Bit 2: Operation enabled
Bit 3: Fault
Bit 4: reserved
Bit 5: reserved
Bit 6: Switch on disabled
Bit 7: Warning
Bit 8 + 9: reserved
Bit 10: TxPDOToggle (An-/Abwahl über 0x60DA
[} 200])
Bit 11: Internal limit active
Bit 12: Drive follows the command value
Bit 13 - 15: reserved
Bedeutung
0: Disable drive function, motor is free to rotate
1: Slow down by slow down ramp
Bedeutung
erlaubte Werte:
0x08: Cyclic synchronous position mode (CSP)
0x09: Cyclic synchronous velocity mode (CSV)
0x0A: Cyclic synchronous torque mode (CST)
0x0B: Cyclic synchronous torque mode with commuta-
tion angle (CSTCA)
Bedeutung
erlaubte Werte:
8: Cyclic synchronous position mode (CSP)
9: Cyclic synchronous velocity mode (CSV)
10: Cyclic synchronous torque mode (CST)
11: Cyclic synchronous torque mode with commutation
angle (CSTCA)
Bedeutung
Position
Einheit: der angegebene Wert muss mit dem entspre-
chenden Skalierungsfaktor [} 125] multipliziert werden
Version: 2.8
Datentyp Flags Default
UINT16 RO 0x0000 (0
Datentyp Flags Default
UINT16 RO 0x0000 (0
Datentyp Flags Default
ENUM16BIT RW 0
Datentyp Flags Default
UINT8 RW 0x00 (0
Datentyp Flags Default
UINT8 RO 0x00 (0
Datentyp Flags Default
UINT32 RO 0x00000000
(0
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