Prozessdaten

Die Prozessdatenauswahl im System Manager legt die Betriebsart der EL2522 fest.

Die Prozessdaten einzeln händisch eingetragen oder über den Karteireiter „Process Data“ als „Predefined PDO-Assignment“ ausgewählt werden.

Bei Auswahl der EL2522 im System Manager kann durch Klicken auf den Karteireiter "Process Data" durch Auswahl der voreingestellten PDO-Zuordnungen der entsprechende Betriebsmodus gemäß der o.g. Tabelle ausgewählt werden.

Prozessdaten 1:
„Predefined PDO-Assignment“ – Ausschnitt vom TwinCAT System Manager im Karteireiter „Process Data“ der EL2522

Für die EL2522 sind acht Prozessdatensätze verfügbar, die in folgenden Tabellen anhand der Verwendeten CoE-Objekte aufgeführt sind.

Sync Manager (SM)

PDO-Zuordnung der SyncManager

SM1, PDO-Zuordnung 0x1C13, Inputs

Index

zugeteilt zu PDO-Setting

Index ausgeschlossener PDOs

Größe (Byte.Bit)

Name

PDO Inhalt
Index - Name

0x1A00

1 Ch. Standard 16 Bit (MDP 253/511)

1 Ch. Standard 32 Bit (MDP 253/511)

0x1A01, 0x1A03, 0x1A04, 0x1A05

2.0

PTO Status Ch. 1

0x6000:01 - Sel. Ack/End counter
0x6000:02 - Ramp active
0x6000:07 - Error
0x6000:0E - Sync error
0x6000:10 - TxPDO Toggle

2 Ch. Standard 16 Bit (MDP 253/511)

0x1A03, 0x1A05

0x1A01

2 Ch. Standard 16 Bit (MDP 253/511)

2.0

PTO Status Ch. 2

0x1A02

1 Ch. Standard 16 Bit (MDP 253/511)

0x1A01, 0x1A03, 0x1A04, 0x1A05

4.0

ENC Status compact Ch. 1

0x6020:03 - Set counter done
0x6020:04 - Counter underflow
0x6020:05 - Counter overflow
0x6020:0E - Sync error
0x6020:0F - TxPDO State
0x6020:10 - TxPDO Toggle
0x6020:11 - Counter value

2 Ch. Standard 16 Bit (MDP 253/511)

0x1A03, 0x1A05

0x1A03

1 Ch. Standard 32 Bit (MDP 253/511)

0x1A01, 0x1A02, 0x1A04, 0x1A05

6.0

ENC Status Ch. 1

1 Ch. Standard 32 Bit (MDP 253/511), continues position

1 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1A00, 0x1A01, 0x1A02, 0x1A04, 0x1A05

2 Ch. Standard 32 Bit (MDP 253/511), continues position

0x1A00, 0x1A01, 0x1A02, 0x1A04

0x1A04

2 Ch. Standard 16 Bit (MDP 253/511)

0x1A03, 0x1A05

4.0

ENC Status compact Ch. 2

0x1A05

2 Ch. Standard 32 Bit (MDP 253/511)

0x1A02, 0x1A04

6.0

ENC Status Ch. 2

2 Ch. Standard 32 Bit (MDP 253/511), continues position

2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1A00, 0x1A01, 0x1A02, 0x1A04

SM2, PDO-Zuordnung 0x1C12, Outputs

Index

zugeteilt zu PDO-Setting

Index ausgeschlossener PDOs

Größe (Byte.Bit)

Name

PDO Inhalt
Index - Name

0x1600

1 Ch. Standard 16 Bit (MDP 253/511)

0x1601, 0x1603, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160B, 0x160C, 0x160D

4.0

PTO Control Ch. 1

0x7000:01 - Frequency select
0x7000:02 - Disable ramp
0x7000:03 - Go counter
0x7000:11 - Frequency value

2 Ch. Standard 16 Bit (MDP 253/511)

0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D

1 Ch. Standard 32 Bit (MDP 253/511)

0x1601, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D

2 Ch. Standard 32 Bit (MDP 253/511)

0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C

0x1601

1 Ch. Standard 32 Bit (MDP 253/511), continues position

0x1600, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D

6.0

PTO Control Position Ch. 1

0x7000:04 - Automatic direction
0x7000:05 - Forward
0x7000:06 - Backward
0x7000:12 - Target counter value

1 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1600, 0x1602, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D

2 Ch. Standard 32 Bit (MDP 253/511), continues position

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

0x1602

1 Ch. Standard 16 Bit (MDP 253/511)

0x1601, 0x1603, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160B, 0x160C, 0x160D

2.0

PTO Target compact Ch. 1

0x7000:12 - Target counter value

2 Ch. Standard 16 Bit (MDP 253/511)

0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D

0x1603

1 Ch. Standard 32 Bit (MDP 253/511)

0x1601, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D

4.0

PTO Target Ch. 1

0x7000:12 - Target counter value

2 Ch. Standard 32 Bit (MDP 253/511)

0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C

SM2, PDO-Zuordnung 0x1C12, Outputs

Index

zugeteilt zu PDO-Setting

Index ausgeschlossener PDOs

Größe (Byte.Bit)

Name

PDO Inhalt
Index - Name

0x1604

1 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1600, 0x1602, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D

8.0

PTO Arrival Ch. 1

0x7000:13 - Target arrival time

2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

0x1605

2 Ch. Standard 16 Bit (MDP 253/511)

0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D

4.0

PTO Control Ch. 2

0x7010:01 - Frequency select
0x7010:02 - Disable ramp
0x7010:03 - Go counter
0x7010:11 - Frequency value

2 Ch. Standard 32 Bit (MDP 253/511)

0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C

0x1606

2 Ch. Standard 32 Bit (MDP 253/511), continues position

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

6.0

PTO Control Position Ch. 2

0x7010:04 - Automatic direction
0x7010:05 - Forward
0x7010:06 - Backward
0x7010:12 - Target counter value

2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

0x1607

2 Ch. Standard 16 Bit (MDP 253/511)

0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D

2.0

PTO Target compact Ch. 2

0x7010:12 - Target counter value

0x1608

2 Ch. Standard 32 Bit (MDP 253/511)

0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C

4.0

PTO Target Ch. 2

0x7010:12 - Target counter value

0x1609

2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

8.0

PTO Arrival Ch. 2

0x7010:13 - Target arrival time

0x160A

1 Ch. Standard 16 Bit (MDP 253/511)

0x1601, 0x1603, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160B, 0x160C, 0x160D

4.0

ENC Control compact Ch. 1

0x7020:03 - Set counter
(0x7020:10 - Reserved)
0x7020:11 - Set counter value

2 Ch. Standard 16 Bit (MDP 253/511)

0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D

SM2, PDO-Zuordnung 0x1C12, Outputs

Index

zugeteilt zu PDO-Setting

Index ausgeschlossener PDOs

Größe (Byte.Bit)

Name

PDO Inhalt
Index - Name

0x160B

1 Ch. Standard 32 Bit (MDP 253/511)

0x1601, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D

6.0

ENC Control Ch. 1

0x7020:03 - Set counter
(0x7020:10 - Reserved)
0x7020:11 - Set counter value

2 Ch. Standard 32 Bit (MDP 253/511)

0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C

1 Ch. Standard 32 Bit (MDP 253/511), continues position

0x1600, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D

1 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1600, 0x1602, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D

2 Ch. Standard 32 Bit (MDP 253/511), continues position

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

0x160C

2 Ch. Standard 16 Bit (MDP 253/511)

0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D

4.0

ENC Control compact Ch. 2

0x7030:03 - Set counter
(0x7030:10 - Reserved)
0x7030:11 - Set counter value

0x160D

2 Ch. Standard 32 Bit (MDP 253/511)

0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C

6.0

ENC Control Ch. 2

0x7030:03 - Set counter
(0x7030:10 - Reserved)
0x7030:11 - Set counter value

2 Ch. Standard 32 Bit (MDP 253/511), continues position

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

Einstellungsoptionen Prozessdaten

Über den Karteireiter "Prozessdaten" lässt sich wie im Folgenden beschrieben der Prozessdatenumfang einstellen (gezeigt sind nur 2 fach-Inkremental Encoder Einstellungen):

PDO setting 2: 1 Ch. Standard 16 Bit (MDP 253/511)

Prozessdaten 2:
Prozessdaten und PDO-Zuordnung: „Standard 16 Bit (MDP 253/511)“

PDO setting: 1 Ch. Standard 32 Bit (MDP 253/511), continues position

Prozessdaten 3:
Prozessdaten und PDO-Zuordnung: „1 Ch. Standard 32 Bit (MDP 253/511), continues position“

PDO setting: 2 Ch. Standard 32 Bit (MDP 253/511), continues position

Prozessdaten 4:
Prozessdaten und PDO-Zuordnung: „2 Ch. Standard 32 Bit (MDP 253/511), continues position“

PDO setting: 2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

Prozessdaten 5:
Prozessdaten und PDO-Zuordnung: „2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time“