EP5101-0011 - PDO assignment

EP5101-0011 - PDO assignment 1:

PDO Assignment

To configure the process data, select the required Sync Manager (SM 2 or SM 3 can be changed) in the Sync Manager field at the top left (see illustration above). The process data assigned to this Sync Manager can then be switched on or off in the PDO Assignment field below. Restarting the EtherCAT system, or reloading the configuration in Config mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the box.

SM2, PDO Assignment 0x1C12

Index

Index of excluded PDOs

Size (byte.bit)

Name

PDO Content
(index - name)

0x1600 (default)

0x1601

4.0

ENC Control compact

0x7000:01 - Enable Latch C
0x7000:02 - Enable Latch extern on positive edge
0x7000:03 - Set counter
0x7000:04 - Enable Latch extern on negative edge
0x7000:11 - Set counter value (16-bit)

0x1601

0x1600

6.0

ENC Control

0x7000:01 - Enable Latch C
0x7000:02 - Enable Latch extern on positive edge
0x7000:03 - Set counter
0x7000:04 - Enable Latch extern on negative edge
0x7000:11 - Set counter value (32-bit)

SM3, PDO Assignment 0x1C13

Index

Index of excluded PDOs

Size (byte.bit)

Name

PDO Content

0x1A00 (default)

0x1A01

6.0

ENC Status compact

0x6000:01 - Latch C valid
0x6000:02 - Latch extern valid
0x6000:03 - Set counter done
0x6000:04 - Counter underflow
0x6000:05 - Counter overflow
0x6000:06 - Status of input status
0x6000:07 - Open circuit
0x6000:08 - Extrapolation stall
0x6000:09 - Status of input A
0x6000:0A - Status of input B
0x6000:0B - Status of input C
0x6000:0C - Status of input gate
0x6000:0D - Status of extern latch
0x1C32:20 - Sync error
0x1800:07 - TxPDO State
0x1800:09 - TxPDO Toggle
0x6000:11 - Counter value (16-Bit)
0x6000:12 - Latch value (16-Bit)

0x1A01

0x1A00

10.0

ENC Status

0x6000:01 - Latch C valid
0x6000:02 - Latch extern valid
0x6000:03 - Set counter done
0x6000:04 - Counter underflow
0x6000:05 - Counter overflow
0x6000:06 - Status of input status
0x6000:07 - Open circuit
0x6000:08 - Extrapolation stall
0x6000:09 - Status of input A
0x6000:0A - Status of input B
0x6000:0B - Status of input C
0x6000:0C - Status of input gate
0x6000:0D - Status of extern latch
0x1C32:20 - Sync error
0x1800:07 - TxPDO State
0x1800:09 - TxPDO Toggle
0x6000:11 - Counter value (32-Bit)
0x6000:12 - Latch value (32-Bit)

0x1A02

0x1A03

4.0

ENC Frequency

0x6000:13 - Frequency value

0x1A03

0x1A02

4.0

ENC Period

0x6000:14 - Period value

0x1A04

0x1A05

8.0

ENC Timest.

0x6000:16 - timestamp (64-bit)

0x1A05

0x1A04

4.0

ENC Timest. compact

0x6000:16 - timestamp compact (32-bit)